Method for determining a parking position for a motor vehicle, wherein a perpendicular parking space is detected by means of a sensor system of the motor vehicle and a parking space data set characterizing the perpendicular parking space is provided to a control unit of the motor vehicle, and the parking position is determined by the control unit on the basis of the parking space data set and on the basis of an access parameter of the motor vehicle which characterizes an opening possibility of at least one panel element (11, 12, 13) of the motor vehicle, and the parking position is established on the basis of a further access parameter of a further motor vehicle that is parked adjacently to the parking position, characterized in that to determine the parking position by means of the control unit on the basis of the parking space data set and on the basis of the access parameters (10, 14), an orientation of a forward driving direction of the motor vehicle in relation to the perpendicular parking space is determined, and the orientation of the forward driving direction of the motor vehicle in relation to the perpendicular parking space is further determined on the basis of at least one of the following conditions: - type of road adjacent to the perpendicular parking space, - complexity of a driving maneuver (15, 18, 19, 20) required to drive into the perpendicular parking space, - orientation of a forward driving direction of the adjacently parked motor vehicle, loading state of a storage space of the motor vehicle, and wherein, on the basis of an available width (26, B) of the perpendicular parking space, a motor vehicle width (25, b) and the access parameter which characterizes an open position of the panel element (11, 12, 13), the perpendicular parking space is assigned to one of the following categories by means of the control unit: - safe perpendicular parking space, - small perpendicular parking space, - critical perpendicular parking space, - perpendicular parking space unsafe for use. to determine the parking position by means of the control unit on the basis of the parking space data set and on the basis of the access parameters (10, 14), an orientation of a forward driving direction of the motor vehicle in relation to the perpendicular parking space is determined, and the orientation of the forward driving direction of the motor vehicle in relation to the perpendicular parking space is further determined on the basis of at least one of the following conditions: - type of road adjacent to the perpendicular parking space, - complexity of a driving maneuver (15, 18, 19, 20) required to drive into the perpendicular parking space, - orientation of a forward driving direction of the adjacently parked motor vehicle, - type of road adjacent to the perpendicular parking space, - complexity of a driving maneuver (15, 18, 19, 20) required to drive into the perpendicular parking space, - orientation of a forward driving direction of the adjacently parked motor vehicle, loading state of a storage space of the motor vehicle, and wherein, on the basis of an available width (26, B) of the perpendicular parking space, a motor vehicle width (25, b) and the access parameter which characterizes an open position of the panel element (11, 12, 13), the perpendicular parking space is assigned to one of the following categories by means of the control unit: - safe perpendicular parking space, - small perpendicular parking space, - critical perpendicular parking space, - perpendicular parking space unsafe for use. - safe perpendicular parking space, - small perpendicular parking space, - critical perpendicular parking space, - perpendicular parking space unsafe for use.