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.