An arrangement for active alignment control of a contact element of a charging device for a vehicle for driving on an electrical road system comprising a charging surface configured to provide electrical power to the vehicle via the charging device,: the charging device comprising a base , a linkage arm , and an electrical contact element for making electrical contact with said charging surface of the electrical road system, and a pivot joint arranged for allowing a movement of the contact element around an axis substantially perpendicular to the charging surface; wherein the contact element and the base are connected to opposite ends of said linkage arm, and wherein the linkage arm is at least horizontally displaceable for aligning the contact element with the charging surface; a charging surface detection sensor for determining trajectory data indicative of the trajectory of the charging surface ; wherein the arrangement is characterized by: an angle detection sensor module for determining the angle (β) between the vehicle heading and the charging surface trajectory in the horizontal plane; an actuator module for controlling said movement of the electrical contact element around said axis substantially perpendicular to the charging surface and for controlling the horizontal displacement of the linkage arm, and a control unit connected to said charging surface detection sensor , and said angle detection sensor module 112, and said actuator module and configured to activate said actuator module to align said contact element with said trajectory of said charging surface based on said trajectory data and said angle between the vehicle heading and said charging surface. the charging device comprising a base , a linkage arm , and an electrical contact element for making electrical contact with said charging surface of the electrical road system, and a pivot joint arranged for allowing a movement of the contact element around an axis substantially perpendicular to the charging surface; wherein the contact element and the base are connected to opposite ends of said linkage arm, and wherein the linkage arm is at least horizontally displaceable for aligning the contact element with the charging surface; a charging surface detection sensor for determining trajectory data indicative of the trajectory of the charging surface ; wherein the arrangement is characterized by: an angle detection sensor module for determining the angle (β) between the vehicle heading and the charging surface trajectory in the horizontal plane; an actuator module for controlling said movement of the electrical contact element around said axis substantially perpendicular to the charging surface and for controlling the horizontal displacement of the linkage arm, and a control unit connected to said charging surface detection sensor , and said angle detection sensor module 112, and said actuator module and configured to activate said actuator module to align said contact element with said trajectory of said charging surface based on said trajectory data and said angle between the vehicle heading and said charging surface. an angle detection sensor module for determining the angle (β) between the vehicle heading and the charging surface trajectory in the horizontal plane; an actuator module for controlling said movement of the electrical contact element around said axis substantially perpendicular to the charging surface and for controlling the horizontal displacement of the linkage arm, and a control unit connected to said charging surface detection sensor , and said angle detection sensor module 112, and said actuator module and configured to activate said actuator module to align said contact element with said trajectory of said charging surface based on said trajectory data and said angle between the vehicle heading and said charging surface. <EOS>