METHOD FOR SPEED CONTROL

A method for speed control of a ground-based vehicle, wherein a speed planner (4) comprises a macro planner (1), for rapid forward-backward speed planning, and comprises a meso planner (2), for optimization of driving time and energy consumption with an optimization solver, wherein a distance planner comprises a micro planner (3), for distance control of the distance to a preceding vehicle, wherein optionally a speed setpoint is calculated by the macro planner (1) or is calculated by the meso planner (2), wherein thereafter the speed setpoint is optimized by the micro planner (3) in order to output a final speed setpoint, wherein the ground-based vehicle is subsequently operated with the final speed setpoint.