Computer system and a method for controlling an electric propulsion system of an autonomous working machine

A computer-implemented method for controlling an electric propulsion system of an autonomous working machine comprising a first axle located near a first end of the working machine and a second axle located near a second end of the working machine, the electric propulsion system comprising:

• a first electric system configured to drive the first axle, the first electric system comprising a first electric energy storage system and a first electric motor, and
• a second electric system configured to drive the second axle, the second electric system comprising a second electric energy storage system and a second electric motor, the method comprising:
• by a processing circuitry of a computer system, determining a longitudinal gradient along an expected travelling path of the working machine,
• by the processing circuitry, determining charge levels of the first and second electric energy storage systems, respectively, and
• by the processing circuitry, controlling the working machine to assume a first orientation or a second orientation to travel along the expected travelling path, the first end of the working machine being a leading end in the first orientation, and the second end of the working machine being a leading end in the second orientation, wherein the orientation of the working machine is controlled in dependence on the determined longitudinal gradient and the determined charge levels.