A vehicle comprising at least one working unit , being equipment for unloading or loading objects to be transported, and a vehicle control system for controlling the vehicle to work in accordance with one or many working procedures, - the vehicle control system comprises at least two control units , one control unit is designated to each of the at least one working units , and one control unit is designated to the vehicle, - the vehicle comprises a plurality of sensor units arranged to detect and measure a plurality of different measurement parameters in relation to the vehicle, its environment, and the working unit, wherein each sensor unit is configured to generate a sensor signal in dependence of a measured parameter and to apply said sensor signal to a control unit , and that each control unit is provided with a communication interface configured to perform bidirectional communication, e.g. comprising sensor signals, to all other control units such that all control units of the vehicle have access to the same current measured parameters via said communication interfaces, characterized in that each control unit is configured to determine control signals to control its working unit , and the control unit designated to the vehicle is configured to determine control signals to control the vehicle , each of the control units is also configured to determine control signals for controlling at least one of the other working units or the vehicle , and specifically to determine control signals capable of controlling steps of a working procedure, being a loading and/or unloading procedure, or a lifting procedure, wherein at each point in time one of the control units is a master control unit controlling the other control unit(s) acting as slave unit(s) and that at least two control units are configured to be a master control unit, wherein a determination procedure is provided to determine if handover to another control unit, then being the new master control unit, should be made, and enabling the new master control unit to take control in accordance with the current working procedure if handover has been determined. - the vehicle control system comprises at least two control units , one control unit is designated to each of the at least one working units , and one control unit is designated to the vehicle, - the vehicle comprises a plurality of sensor units arranged to detect and measure a plurality of different measurement parameters in relation to the vehicle, its environment, and the working unit, wherein each sensor unit is configured to generate a sensor signal in dependence of a measured parameter and to apply said sensor signal to a control unit , and that each control unit is provided with a communication interface configured to perform bidirectional communication, e.g. comprising sensor signals, to all other control units such that all control units of the vehicle have access to the same current measured parameters via said communication interfaces, wherein at each point in time one of the control units is a master control unit controlling the other control unit(s) acting as slave unit(s) and that at least two control units are configured to be a master control unit, wherein a determination procedure is provided to determine if handover to another control unit, then being the new master control unit, should be made, and enabling the new master control unit to take control in accordance with the current working procedure if handover has been determined. <EOS>