Method for planning a virtual track (B1, B2), along which a driverless transport vehicle is to move automatically within an environment (U) from a start point (SP) to an end point (ZP), wherein the environment (U) comprises intermediate points (31-35) and sections (A) connecting the intermediate points (31-35), the start point (SP) and the end point (ZP), comprising the following method steps: - providing a graph (G) assigned to the environment (U), the graph comprising nodes (K1-K5) assigned to the intermediate points (31-35), a start node (S) assigned to the start point (SP), an end node (Z) assigned to the end point (ZP), and edges (51-57) connecting the start node (S), the end node (Z) and the nodes (K1-K5) and being assigned to the corresponding sections (A), wherein information about the course of a virtual track section (41-47) is assigned to the respective edges (51-57), the relevant virtual track section being assigned to the corresponding section (A), - automatically determining a path (P1, P2) between the start node (S) and the end node (Z) within the graph (G), and - automatically merging the virtual track sections (41-47) assigned to the edges (51-57) of the determined path (P1, P2) to the virtual track (B1, B2), wherein determining the path (P1, P2) is performed based on information about the driving behaviour and/or driving ability of the driverless transport vehicle and determining the virtual track (B1, B2) is based on at least one constraint, wherein - possible virtual junctions between the courses of the corresponding virtual track sections (41-47) are assigned to the start node (S), the end node (Z) and the individual nodes (K1-K5), and there is an automatic merging of the virtual track sections (41-47) assigned to the edges (51-57) of the determined path (P1, P2) and the virtual junctions assigned to the nodes (K1-K5) of the determined path (P1, P2) in order to obtain the virtual track (B1, B2). - providing a graph (G) assigned to the environment (U), the graph comprising nodes (K1-K5) assigned to the intermediate points (31-35), a start node (S) assigned to the start point (SP), an end node (Z) assigned to the end point (ZP), and edges (51-57) connecting the start node (S), the end node (Z) and the nodes (K1-K5) and being assigned to the corresponding sections (A), wherein information about the course of a virtual track section (41-47) is assigned to the respective edges (51-57), the relevant virtual track section being assigned to the corresponding section (A), - automatically determining a path (P1, P2) between the start node (S) and the end node (Z) within the graph (G), and - automatically merging the virtual track sections (41-47) assigned to the edges (51-57) of the determined path (P1, P2) to the virtual track (B1, B2), wherein determining the path (P1, P2) is performed based on information about the driving behaviour and/or driving ability of the driverless transport vehicle and determining the virtual track (B1, B2) is based on at least one constraint, wherein - possible virtual junctions between the courses of the corresponding virtual track sections (41-47) are assigned to the start node (S), the end node (Z) and the individual nodes (K1-K5), and there is an automatic merging of the virtual track sections (41-47) assigned to the edges (51-57) of the determined path (P1, P2) and the virtual junctions assigned to the nodes (K1-K5) of the determined path (P1, P2) in order to obtain the virtual track (B1, B2). <EOS>