static void drive(int index, tCarElt* car, tSituation *s)
{
  memset((void *)&car->ctrl, 0, sizeof(tCarCtrl));
  /* Auto bewegen */
  car->ctrl.gear = 1;  /* ersten Gang einlegen */
  car->ctrl.accelCmd = 0.3; /* Gaspedal treten */
  car->ctrl.brakeCmd = 0.0; /* Bremse lösen */
  /* Lenken */
  float winkel;
  winkel = RtTrackSideTgAngleL(&(car->_trkPos)) - car->_yaw;
  NORM_PI_PI(winkel);
  winkel = winkel - car->_trkPos.toMiddle / car->_trkPos.seg->width;
  car->ctrl.steer = winkel / car->_steerLock;
}