Method for detecting at least one parking space for a vehicle, comprising the steps of: a. capturing objects (40, 50, 60, 65, 80) in the area surrounding the vehicle using at least one environmental sensor of the vehicle that is in the form of a distance sensor, wherein the environmental sensor emits signals, in particular ultrasonic signals, the signals are reflected at objects (40, 50, 60, 65, 80) in the area surrounding the vehicle and the reflected signals are received by the distance sensor as echo signals, b. identifying objects (220, 240, 260) that bound the parking space by evaluating the captured echo signals, c. classifying the objects (220, 240, 260) that bound the parking space by means of characteristic structures of the echo signals, wherein the characteristic structures of the echo signals comprise hyperbolic structures which result from plotting the sensor position at the measurement time against an object distance determined from the propagation time of the echo signal, characterized by the step of d. determining a parking space quality on the basis of the classification of the objects (220, 240, 260) that bound the parking space, wherein a parking space defined by the objects (220, 240, 260) that bound the parking space is detected as a possible parking space for the vehicle when the parking space quality corresponds to a specified limit value or exceeds the specified limit value, wherein a parking space is defined by a first object that bounds the parking space, a second object the bounds the parking space and a lateral parking space boundary, and the parking space quality of the parking space is determined in such a manner that, for a particular combination of possible object classes for the objects (220, 240, 260) that bound the parking space, a particular quality measure representing the parking space quality is specified, wherein the first and second objects that bound the parking space are each classified in one of the following object classes: - vehicle parked parallel to the direction of travel - vehicle parked transversely with respect to the direction of travel - short object (60, 65) - no object and the lateral parking space boundary is classified in one of the following object classes: - low lateral parking space boundary - high lateral parking space boundary - no lateral parking space boundary present. a. capturing objects (40, 50, 60, 65, 80) in the area surrounding the vehicle using at least one environmental sensor of the vehicle that is in the form of a distance sensor, wherein the environmental sensor emits signals, in particular ultrasonic signals, the signals are reflected at objects (40, 50, 60, 65, 80) in the area surrounding the vehicle and the reflected signals are received by the distance sensor as echo signals, b. identifying objects (220, 240, 260) that bound the parking space by evaluating the captured echo signals, c. classifying the objects (220, 240, 260) that bound the parking space by means of characteristic structures of the echo signals, wherein the characteristic structures of the echo signals comprise hyperbolic structures which result from plotting the sensor position at the measurement time against an object distance determined from the propagation time of the echo signal, characterized by the step of d. determining a parking space quality on the basis of the classification of the objects (220, 240, 260) that bound the parking space, wherein a parking space defined by the objects (220, 240, 260) that bound the parking space is detected as a possible parking space for the vehicle when the parking space quality corresponds to a specified limit value or exceeds the specified limit value, wherein a parking space is defined by a first object that bounds the parking space, a second object the bounds the parking space and a lateral parking space boundary, and the parking space quality of the parking space is determined in such a manner that, for a particular combination of possible object classes for the objects (220, 240, 260) that bound the parking space, a particular quality measure representing the parking space quality is specified, wherein the first and second objects that bound the parking space are each classified in one of the following object classes: - vehicle parked parallel to the direction of travel - vehicle parked transversely with respect to the direction of travel - short object (60, 65) - no object and the lateral parking space boundary is classified in one of the following object classes: - low lateral parking space boundary - high lateral parking space boundary - no lateral parking space boundary present. - vehicle parked parallel to the direction of travel - vehicle parked transversely with respect to the direction of travel - short object (60, 65) - no object - low lateral parking space boundary - high lateral parking space boundary - no lateral parking space boundary present.