Method for a tele-operated driving of a vehicle, wherein the vehicle is controlled from a command center via a communication network and wherein the method comprises that the command center transmits a steering command to the vehicle over the communication network to change a driving state of the vehicle in order to execute a driving maneuver, the method being characterised in that: the driving maneuver comprises a sequence of execution tasks, which are split into preparation tasks for initiating or preparing the driving maneuver such that a current driving state of the vehicle remains unchanged, and driving tasks for actually or finally changing the driving state of the vehicle for the driving maneuver, wherein the change of the driving state means that the steering command changes a driving speed and/or a steering angle, and before the steering command is transmitted to the vehicle, the command center transmits a separate preparation signal to the vehicle for triggering some or all of those of the preparation tasks for which the current driving state of the vehicle remains unchanged and the following steering command comprises at least one remaining final driving task that causes the vehicle to change its driving state according to the driving maneuver, wherein the driving maneuver is a start of the vehicle from standstill and the preparation signal triggers one or some or all of the following preparation tasks: - disengage parking brake, - setup brake pressure, - change to gear one or reverse gear, - activate day time running lights or lights, - turn the steering in a defined direction, - adjust at least one sensor of the vehicle in the defined direction. the driving maneuver comprises a sequence of execution tasks, which are split into preparation tasks for initiating or preparing the driving maneuver such that a current driving state of the vehicle remains unchanged, and driving tasks for actually or finally changing the driving state of the vehicle for the driving maneuver, wherein the change of the driving state means that the steering command changes a driving speed and/or a steering angle, and before the steering command is transmitted to the vehicle, the command center transmits a separate preparation signal to the vehicle for triggering some or all of those of the preparation tasks for which the current driving state of the vehicle remains unchanged and the following steering command comprises at least one remaining final driving task that causes the vehicle to change its driving state according to the driving maneuver, wherein the driving maneuver is a start of the vehicle from standstill and the preparation signal triggers one or some or all of the following preparation tasks: - disengage parking brake, - setup brake pressure, - change to gear one or reverse gear, - activate day time running lights or lights, - turn the steering in a defined direction, - adjust at least one sensor of the vehicle in the defined direction. - disengage parking brake, - setup brake pressure, - change to gear one or reverse gear, - activate day time running lights or lights, - turn the steering in a defined direction, - adjust at least one sensor of the vehicle in the defined direction.