the invention concerns a vehicle with an attachment , which has a lifting drive with at least one hydraulic cylinder and a control device , the control device having a position sensor and a position generator . it is endeavored to improve the position control of the attachment . for this purpose , the control device has a trajectory generator , which generates a trajectory in dependence of a desired position value and an acceleration limit , said trajectory being optimized with regard to a time specification , and a follower , which controls the lift drive in dependence of the trajectory .