A method for determining a braking distance estimate for a vehicle travelling along a trajectory on a roadway at a known current vehicle speed (V 0), wherein the braking distance estimate is an estimate of a distance along the trajectory needed by the vehicle for reducing the current vehicle speed (V 0) to a target vehicle speed (V T) while a braking system is activated, comprising: - receiving a friction information (F 1, F 2,..., F N) for each of a plurality of trajectory segments (T 1, T 2,..., T N) lying ahead of the vehicle, wherein the friction information (F 1, F 2,..., F N) comprises a segment-specific friction coefficient (f 1, f 2,..., f N) and wherein a length (l 1, l 2,..., l N) of each trajectory segment (T 1, T 2,..., T N) is known, - calculating a segment end speed (V 1, V 2,..., V E) for each trajectory segment (T 1, T 2,..., T E) of a connected subset of the plurality of trajectory segments (T 1, T 2,..., T N) starting from a starting segment (T 1) being located adjacent to the vehicle until for an end segment (T E) a segment end speed (V E) is determined which equals the target vehicle speed (V T) or is lower than the target vehicle speed (V T), wherein calculating a segment end speed (V 1, V 2,..., V E) for each trajectory segment (T 1, T 2,..., T E) of a connected subset of the plurality of trajectory segments (T 1, T 2,..., T N) is based on the corresponding friction information (F 1, F 2,..., F N), - determining an intra-segment length (li E) within the end segment (T E), wherein the intra-segment length (li E) defines a position where the vehicle has the target vehicle speed (V T), and - determining the braking distance estimate as the sum of the lengths (l 1, l 2,..., l E-1) of the trajectory segments (T 1, T 2,..., T E-1) having a segment end speed (V 1, V 2,..., V E-1) exceeding the target vehicle speed (V T) and the intra-segment length (li E). - receiving a friction information (F 1, F 2,..., F N) for each of a plurality of trajectory segments (T 1, T 2,..., T N) lying ahead of the vehicle, wherein the friction information (F 1, F 2,..., F N) comprises a segment-specific friction coefficient (f 1, f 2,..., f N) and wherein a length (l 1, l 2,..., l N) of each trajectory segment (T 1, T 2,..., T N) is known, - calculating a segment end speed (V 1, V 2,..., V E) for each trajectory segment (T 1, T 2,..., T E) of a connected subset of the plurality of trajectory segments (T 1, T 2,..., T N) starting from a starting segment (T 1) being located adjacent to the vehicle until for an end segment (T E) a segment end speed (V E) is determined which equals the target vehicle speed (V T) or is lower than the target vehicle speed (V T), wherein calculating a segment end speed (V 1, V 2,..., V E) for each trajectory segment (T 1, T 2,..., T E) of a connected subset of the plurality of trajectory segments (T 1, T 2,..., T N) is based on the corresponding friction information (F 1, F 2,..., F N), - determining an intra-segment length (li E) within the end segment (T E), wherein the intra-segment length (li E) defines a position where the vehicle has the target vehicle speed (V T), and - determining the braking distance estimate as the sum of the lengths (l 1, l 2,..., l E-1) of the trajectory segments (T 1, T 2,..., T E-1) having a segment end speed (V 1, V 2,..., V E-1) exceeding the target vehicle speed (V T) and the intra-segment length (li E).