Abstract: In a method for setting a presettable vehicle desired speed, control signals for manipulation of the engine and/or the transmission of the motor vehicle are produced in a cruise control system, taking account of vehicle state variables and operating variables. In order to avoid overshoots occurring as the desired speed is approached, a substitute speed is preset which differs from the desired speed and is formed by applying an offset to the desired speed. The substitute speed is above or below the desired speed depending on the actual vehicle speed. When the actual vehicle speed approaches the desired speed, the substitute speed is used for cruise control.