A method for moving a lifting device includes: in a presetting phase, presetting at least one target position for the lifting device; in a measuring phase, detecting an instantaneous geometry of the arm system; in a selection phase, selecting a target position specified in the presetting phase; in a comparison phase, determining a geometrical deviation between the geometry of the target position selected in the selection phase and the instantaneous geometry detected in the measuring phase; in a generation phase, generating at least one control command on the basis of the geometrical deviation determined in the comparison phase; and in a control phase, performing at least partial movement of the lifting device into the selected target position by actuating the actuators of the arm system with the at least one control command generated in the generation phase.

There is provided a loading type truck crane that includes an outrigger device including a right outrigger and a left outrigger that are mounted on a vehicle and are capable of extending and retracting in a vehicle width direction of the vehicle, and a crane device that includes a turnable boom and is mounted on the vehicle. A control device that is provided in the truck crane calculates a critical working radius of the crane device on a basis of a ground-contact reaction force of the outrigger device, and implements safety control related to at least one of a lowering operation and an extension operation of the boom by the crane device on a basis of the calculated critical working radius.