Contact detection between user and control device

The method involves determining a frequency spectrum based on motion signals of a control input device (1) i.e. joystick, detected by sensors (4a, 4b) e.g. angle and/or position sensors, force sensors and acceleration sensors. A contact state between a vehicle operator and the control input device is detected in dependence of the determined frequency spectrum. Vehicle vibrations are detected by the sensors in an environment of the control input device, and the contact state is detected in dependence of the detected vehicle vibrations. An independent claim is also included for a control input device for controlling of a vehicle, comprising sensors to determine motion signals of the control input device.