A vehicle has at least two driving wheels, each driven by an electric motor M via a gear change mechanism having at least two reduction gears. A sensor senses the rotation speed of the driving wheels. The gear change on the two driving wheels is carried out in an initial phase by: (a) releasing the current gear on a driving wheel referred to as the “operated” wheel, and stopping it in the neutral position, (b) changing the revolution speed of the motor so as to synchronize it as a function of the reduction of the gear to be engaged on the operated wheel, using as an estimate of the speed to-be-reached a speed information item obtained from another driving wheel, referred to as the “sensor” wheel, and (c) engaging the intended gear on the “operated” wheel. Then, in a successive phase, the gear on the other driving wheel is changed in the same manner by reversing the roles of the sensor wheel and the operated wheel.