A method for controlling a lifting and lowering sequence of a load carrying body of a vehicle comprising a chassis structure and the load carrying body pivotally mounted on the chassis structure with respect to a pivot axis being substantially parallel to either a pitch axis or a roll axis of the vehicle, wherein the vehicle comprises sensing means provided on the chassis structure for measuring roll angle and pitch angle of the chassis structure and sensing means provided on the load carrying body for measuring roll angle and pitch angle of the load carrying body, the method comprising: - measuring roll angle and pitch angle of the chassis structure and of the load carrying body during the lifting and lowering sequence, by means of the sensing means, - determining absolute roll angle and pitch angle of the chassis structure and the load carrying body, respectively, with respect to a reference, - determining a relative roll angle (α 1) between the chassis structure and the load carrying body by comparing the measured roll angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or determining a relative pitch angle between the chassis structure and the load carrying body by comparing the measured pitch angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis, - controlling the lifting and lowering sequence at least based on the determined absolute and relative angles, characterized in that the method further comprises: emergency lowering the load carrying body if the relative roll angle is equal to or exceeds a first predetermined relative roll angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or emergency lowering the load carrying body if the relative pitch angle is equal to or exceeds a first predetermined relative pitch angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis. wherein the vehicle comprises sensing means provided on the chassis structure for measuring roll angle and pitch angle of the chassis structure and sensing means provided on the load carrying body for measuring roll angle and pitch angle of the load carrying body, the method comprising: - measuring roll angle and pitch angle of the chassis structure and of the load carrying body during the lifting and lowering sequence, by means of the sensing means, - determining absolute roll angle and pitch angle of the chassis structure and the load carrying body, respectively, with respect to a reference, - determining a relative roll angle (α 1) between the chassis structure and the load carrying body by comparing the measured roll angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or determining a relative pitch angle between the chassis structure and the load carrying body by comparing the measured pitch angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis, - controlling the lifting and lowering sequence at least based on the determined absolute and relative angles, characterized in that - measuring roll angle and pitch angle of the chassis structure and of the load carrying body during the lifting and lowering sequence, by means of the sensing means, - determining absolute roll angle and pitch angle of the chassis structure and the load carrying body, respectively, with respect to a reference, - determining a relative roll angle (α 1) between the chassis structure and the load carrying body by comparing the measured roll angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or determining a relative pitch angle between the chassis structure and the load carrying body by comparing the measured pitch angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis, - controlling the lifting and lowering sequence at least based on the determined absolute and relative angles, characterized in that the method further comprises: emergency lowering the load carrying body if the relative roll angle is equal to or exceeds a first predetermined relative roll angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or emergency lowering the load carrying body if the relative pitch angle is equal to or exceeds a first predetermined relative pitch angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis.