A method for controlling the braking system of a vehicle when the vehicle is switching from a standstill state where parking brake is applied to a driving state includes at least the following steps: a) detecting at least one starting condition of the vehicle, b) determining at least one parking condition of the vehicle, c) assessing whether said parking condition is favorable or unfavorable, d) if said parking condition is considered to be favorable at step c), starting to release the parking brake, and e) after step d), starting to apply the service brake.