A vehicle accessory arrangement structured to be mounted on a vehicle, the accessory arrangement comprises: - a working equipment, - an accessory control unit configured to determine accessory control signals and to control said working equipment by said signals, - an accessory communication bus comprising a bus interface configured to connect said accessory communication bus to a vehicle communication bus provided at said vehicle, characterized in that - said accessory arrangement comprises a wireless signal receiver configured to receive current position data, e.g. GPS data, and working assignment data including route data for a working assignment for said vehicle provided with said working equipment, and to make said received position data and working assignment data available to said accessory control unit, - said accessory control unit is configured to receive a vehicle data set among a plurality of different vehicle data sets, each of said plurality of vehicle data sets comprises control characteristics of a vehicle on which the accessory arrangement may be mounted, wherein said accessory control unit is configured to determine: - navigation and drive control commands adapted to control said vehicle provided with said vehicle accessory arrangement to work in an autonomous mode and to travel along a route of a working assignment, - working control commands adapted to control said vehicle such that working procedures performed by said working equipment are supported, wherein said navigation and drive control commands and said working control commands are determined based upon said control characteristics, and wherein said accessory control unit is configured to control said vehicle provided with said vehicle accessory arrangement, by said determined navigation and drive commands and working control commands, to fulfil said working assignment. - a working equipment, - an accessory control unit configured to determine accessory control signals and to control said working equipment by said signals, - an accessory communication bus comprising a bus interface configured to connect said accessory communication bus to a vehicle communication bus provided at said vehicle, characterized in that - said accessory arrangement comprises a wireless signal receiver configured to receive current position data, e.g. GPS data, and working assignment data including route data for a working assignment for said vehicle provided with said working equipment, and to make said received position data and working assignment data available to said accessory control unit, - said accessory control unit is configured to receive a vehicle data set among a plurality of different vehicle data sets, each of said plurality of vehicle data sets comprises control characteristics of a vehicle on which the accessory arrangement may be mounted, wherein said accessory control unit is configured to determine: - navigation and drive control commands adapted to control said vehicle provided with said vehicle accessory arrangement to work in an autonomous mode and to travel along a route of a working assignment, - working control commands adapted to control said vehicle such that working procedures performed by said working equipment are supported, wherein said navigation and drive control commands and said working control commands are determined based upon said control characteristics, and wherein said accessory control unit is configured to control said vehicle provided with said vehicle accessory arrangement, by said determined navigation and drive commands and working control commands, to fulfil said working assignment. - navigation and drive control commands adapted to control said vehicle provided with said vehicle accessory arrangement to work in an autonomous mode and to travel along a route of a working assignment, - working control commands adapted to control said vehicle such that working procedures performed by said working equipment are supported, wherein said navigation and drive control commands and said working control commands are determined based upon said control characteristics, and wherein said accessory control unit is configured to control said vehicle provided with said vehicle accessory arrangement, by said determined navigation and drive commands and working control commands, to fulfil said working assignment.