A transverse steering method (300, 400, 500, 600) for moving a vehicle (101, 207, 304, 404, 504, 604) comprising an active steering into a target position (104, 205, 307, 407, 507, 607), comprising: - performing distance and/or angle measurements (108, 315, 415, 515, 615) between the vehicle (101, 207, 304, 404, 504, 604) and the target position (104, 205, 307, 407, 507, 607) enabling a derivation of location and orientation data, - deriving the location and orientation data (313, 413, 513, 613), - filtering (305, 405, 505, 605) the location and orientation data (313, 413, 513, 613) to current values (311, 312, 411, 412, 511, 512, 611, 612), which comprise current location values (311, 411, 511, 611) and current orientation values (312, 412, 512, 612), - performing a control (303, 402, 403, 503, 602, 603), which derives from the current values (311, 312, 411, 412, 511, 512, 611, 612) target steering angle (310, 410, 510, 610), and - realization of the target steering angle (310, 410, 510, 610) by acting on the active steering of the vehicle (101, 207, 304, 404, 504, 604), wherein - the filtering (305, 405, 505, 605) of the location and orientation data (313, 413, 513, 613) comprises a Kalman filtering (505, 605), in which the location and orientation data (313, 413, 513, 613) are processed to the current data (511, 512, 611, 612) considering the driving properties (514, 614) measured on the vehicle, quality values (519, 619) and a movement model (518, 618) of the vehicle (101, 207, 304, 404, 504, 604) and wherein the Kalman filtering comprises a measurement step and an update step, such that in the measurement step newly calculated position data are derived from in each case the latest sensor data and previously calculated position data by weighted averaging with a weight w that according to w = 1 / q ⋅ vm + 1, depends on the quality of the sensor measurements q and a variance of the sensor measurements vm, and in the update step the calculated position data are extrapolated to current position data according to a movement model parameterized with a measured steering angle and a measured speed as driving properties (514, 614). - performing distance and/or angle measurements (108, 315, 415, 515, 615) between the vehicle (101, 207, 304, 404, 504, 604) and the target position (104, 205, 307, 407, 507, 607) enabling a derivation of location and orientation data, - deriving the location and orientation data (313, 413, 513, 613), - filtering (305, 405, 505, 605) the location and orientation data (313, 413, 513, 613) to current values (311, 312, 411, 412, 511, 512, 611, 612), which comprise current location values (311, 411, 511, 611) and current orientation values (312, 412, 512, 612), - performing a control (303, 402, 403, 503, 602, 603), which derives from the current values (311, 312, 411, 412, 511, 512, 611, 612) target steering angle (310, 410, 510, 610), and - realization of the target steering angle (310, 410, 510, 610) by acting on the active steering of the vehicle (101, 207, 304, 404, 504, 604), wherein - the filtering (305, 405, 505, 605) of the location and orientation data (313, 413, 513, 613) comprises a Kalman filtering (505, 605), in which the location and orientation data (313, 413, 513, 613) are processed to the current data (511, 512, 611, 612) considering the driving properties (514, 614) measured on the vehicle, quality values (519, 619) and a movement model (518, 618) of the vehicle (101, 207, 304, 404, 504, 604) and wherein the Kalman filtering comprises a measurement step and an update step, such that in the measurement step newly calculated position data are derived from in each case the latest sensor data and previously calculated position data by weighted averaging with a weight w that according to w = 1 / q ⋅ vm + 1, depends on the quality of the sensor measurements q and a variance of the sensor measurements vm, and in the update step the calculated position data are extrapolated to current position data according to a movement model parameterized with a measured steering angle and a measured speed as driving properties (514, 614).