The invention relates to a vehicle, comprising a first and a second axle provided with wheels, wherein each axle has different properties, a first and a second electric machine for providing propulsion force to the first axle and the second axle, wherein the electric machines have different properties. A control unit is configured to identify which one of the electric machines that has the highest efficiency for operating the vehicle at a current or a desired vehicle operating condition, and to control that electric machine to provide a torque to its associated axle to obtain the highest available efficiency for the identified electric machine. When the total needed torque or power is not achieved by solely controlling that electric machine, then the other electric machines is also controlled to provide torque to its associated axle. The invention also relates to a method of controlling the propulsion of a vehicle.