A method for gear shifting in a gearbox, a gearbox and a vehicle

The invention relates to a method for gear shifting in a gearbox (6). The method comprises the following steps of:a) generate torque balance between at least two of the first planetary gear components (26, 28, 34, 36) by means of the first and second electrical machines (50, 52) and disengage at least two of the first planetary gear components (26, 28, 34, 36) from each other by means of a first coupling element (38), b) generate torque balance in the gearbox (6) by means of the first and second electrical machines (50, 52), c) shift gear in the gearbox (6) to a neutral gear, d) synchronize the speed between rotatable torque transmitting elements (18, 20, 22, 30a-30e, 32a-32e) in the gearbox (6), e) engage a gear in the gearbox (6), and shift gear in the range gearbox device (16) to a neutral gear, f) synchronize the speed between a movable component (70, 72, 74, 78) in the range gearbox device (16) and a gearbox housing (68), which at least partly surrounding the gearbox (6), and g) connect the movable component (70, 72, 74, 78) in the range gearbox device (16) to the gearbox housing (68). The invention also relates to a gearbox (6), which is controlled by means of such a method and a vehicle (1), which comprises such a gearbox (6). The invention also relates to a computer program (P) and a computer program product for performing the method.