A method for learning braking step threshold values (BSo.i, BSu.i) of a sustained-action brake (3, 4) operated in braking steps (BS.i) in a commercial vehicle, said method comprising at least the following steps: - detecting a braking request setpoint (zSoll, DSoll, FSoll) and actuating the sustained-action brake (3, 4) with the detected braking request setpoint (zSoll, DSoll, FSoll) to increase or decrease a vehicle actual deceleration (zlst) of the commercial vehicle by setting a braking effect variable (D, F) of the sustained-action brake (3, 4); - detecting a sustained-action brake actual braking effect variable (DIst.i, Fist.i) and a maximum sustained-action brake braking effect variable (DMax, FMax), wherein the sustained-action brake actual braking effect variable (DIst.i, Fist.i) characterizes the braking effect variable (D, F) generated by the sustained-action brake (3, 4) as a result of the actuation with the braking request setpoint (zSoll, DSoll, FSoll), and characterizes the maximum sustained-action brake braking effect variable (DMax, FMax), which braking effect variable (D, F) can be generated maximally by the sustained-action brake (3, 4) during actuation of the sustained-action brake (3, 4) with the braking request setpoint (zSoll, DSoll, FSoll); - forming a braking effect variable coefficient (DRatio, FRatio), wherein the braking effect variable coefficient (DRatio, FRatio) characterizes a ratio of the sustained-action brake actual braking effect variable (DIst.i, Fist.i) and the maximum sustained-action braking effect variable (DMax, FMax) which results from the actuation of the sustained-action brake (3, 4) with the braking request setpoint (zSoll, DSoll, FSoll); - assigning the braking effect variable coefficient (DRatio, FRatio) to a braking step (BS.i) of the sustained-action brake (3, 4) in such a way that each braking step (BS.i) is assigned merely one braking effect variable coefficient (DRatio, FRatio); and - storing the braking request setpoint (zSoll, DSoll, FSoll), which results from the braking effect variable coefficient (DRatio, FRatio), as a braking step threshold value (BSu.i, BSo.i) of the braking step (BS.i) to which the braking effect variable coefficient (DRatio, FRatio) is assigned, wherein the braking step threshold value (BSu.i, BSo.i) specifies at which braking request setpoint (zSoll, DSoll, FSoll) the respective braking step (BS.i) is activated or deactivated. - detecting a braking request setpoint (zSoll, DSoll, FSoll) and actuating the sustained-action brake (3, 4) with the detected braking request setpoint (zSoll, DSoll, FSoll) to increase or decrease a vehicle actual deceleration (zlst) of the commercial vehicle by setting a braking effect variable (D, F) of the sustained-action brake (3, 4); - detecting a sustained-action brake actual braking effect variable (DIst.i, Fist.i) and a maximum sustained-action brake braking effect variable (DMax, FMax), wherein the sustained-action brake actual braking effect variable (DIst.i, Fist.i) characterizes the braking effect variable (D, F) generated by the sustained-action brake (3, 4) as a result of the actuation with the braking request setpoint (zSoll, DSoll, FSoll), and characterizes the maximum sustained-action brake braking effect variable (DMax, FMax), which braking effect variable (D, F) can be generated maximally by the sustained-action brake (3, 4) during actuation of the sustained-action brake (3, 4) with the braking request setpoint (zSoll, DSoll, FSoll); - forming a braking effect variable coefficient (DRatio, FRatio), wherein the braking effect variable coefficient (DRatio, FRatio) characterizes a ratio of the sustained-action brake actual braking effect variable (DIst.i, Fist.i) and the maximum sustained-action braking effect variable (DMax, FMax) which results from the actuation of the sustained-action brake (3, 4) with the braking request setpoint (zSoll, DSoll, FSoll); - assigning the braking effect variable coefficient (DRatio, FRatio) to a braking step (BS.i) of the sustained-action brake (3, 4) in such a way that each braking step (BS.i) is assigned merely one braking effect variable coefficient (DRatio, FRatio); and - storing the braking request setpoint (zSoll, DSoll, FSoll), which results from the braking effect variable coefficient (DRatio, FRatio), as a braking step threshold value (BSu.i, BSo.i) of the braking step (BS.i) to which the braking effect variable coefficient (DRatio, FRatio) is assigned, wherein the braking step threshold value (BSu.i, BSo.i) specifies at which braking request setpoint (zSoll, DSoll, FSoll) the respective braking step (BS.i) is activated or deactivated.