A method is provided for automatically transitioning a cruise control speed from a current speed zone to a next speed zone. A location at which the speed zone limit changes from the current speed limit to the next speed limit forward of a driven vehicle is determined. A speed profile is determined for changing the vehicle speed from the current speed limit to the next speed limit. The speed profile includes non-linear changes in the vehicle speed between the current speed zone and the next speed zone for eliminating abrupt changes in the vehicle speed. A relative location is determined for initiating the non-linear changes in the speed of the vehicle. The non-linear changes are actuated in the speed of the vehicle at the relative location for gradually changing the speed to the next speed limit.