A method for determining a braking distance estimate (D) for a vehicle travelling along a trajectory (T) on a roadway (R) at a known current vehicle speed (V 0 ), wherein the braking distance estimate (D) is an estimate of a distance along the trajectory (T) 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 (S11), - 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 ) (S12), 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 ) (S13), and - determining the braking distance estimate (D) 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 ) (S14). - 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 (S11), - 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 ) (S12), 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 ) (S13), and - determining the braking distance estimate (D) 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 ) (S14). <EOS>