Hi there, I take it you mean your transferring from a static tank to your tank in the van via a submersible pump? If so you could fit a float switch to your van tank, it would activate when the level reaches the top, and you could connect it to your submersible pump and it would therefore stop the water flow when the tank's full.
Alternatively, if you are filling the van straight from your RO, you could fit a float valve to the van tank which would stop the water flow when full, then fit a pressure switch to the output of your ro and connect that to either the pump on your ro, or if you dont have a pumped ro, connect it to a solonoid shut-off valve on the mains water feeding your Ro.
Hope thats understandable
Tim