Method for aiding the parking of a vehicle from a traffic lane to a vacant parking slot, through one or more manoeuvres of parallel parking type, with the aid of a trajectory starting from the traffic lane and consisting of a succession of angle of turning and of speed of displacement of the vehicle, the said trajectory having continuous curvature, in which each manoeuvre of parallel parking type consists of one of the following two sequences: a) sequence I comprising, in one and the same direction of displacement of the vehicle: - a displacement according to a clothoid C, where the wheels are initially straight and the clothoid terminates with a radius of curvature R min, corresponding to the minimum turning radius of the vehicle, - a displacement according to an inner circular arc, where the radius of curvature of this arc is that obtained at the end of the clothoid, - a displacement according to an inverted clothoid C i, where the radius of curvature is initially that corresponding to the preceding circular arc, the end of the clothoid terminating with the wheels straight, b) when sequence I is not possible, a sequence II is applied, the method for aiding the parking of a vehicle being characterized by the following steps of this sequence II, in one and the same direction of displacement of the vehicle: - displacement according to a clothoid C new, where the wheels are initially straight, the clothoid terminating with a radius of curvature R new different from R min, - displacement according to an inverted clothoid C inew, where the radius of curvature is initially that corresponding to the preceding circular arc (R new), the end of the clothoid terminating with the wheels straight. a) sequence I comprising, in one and the same direction of displacement of the vehicle: - a displacement according to a clothoid C, where the wheels are initially straight and the clothoid terminates with a radius of curvature R min, corresponding to the minimum turning radius of the vehicle, - a displacement according to an inner circular arc, where the radius of curvature of this arc is that obtained at the end of the clothoid, - a displacement according to an inverted clothoid C i, where the radius of curvature is initially that corresponding to the preceding circular arc, the end of the clothoid terminating with the wheels straight, - a displacement according to a clothoid C, where the wheels are initially straight and the clothoid terminates with a radius of curvature R min, corresponding to the minimum turning radius of the vehicle, - a displacement according to an inner circular arc, where the radius of curvature of this arc is that obtained at the end of the clothoid, - a displacement according to an inverted clothoid C i, where the radius of curvature is initially that corresponding to the preceding circular arc, the end of the clothoid terminating with the wheels straight, b) when sequence I is not possible, a sequence II is applied, the method for aiding the parking of a vehicle being characterized by the following steps of this sequence II, in one and the same direction of displacement of the vehicle: - displacement according to a clothoid C new, where the wheels are initially straight, the clothoid terminating with a radius of curvature R new different from R min, - displacement according to an inverted clothoid C inew, where the radius of curvature is initially that corresponding to the preceding circular arc (R new), the end of the clothoid terminating with the wheels straight. - displacement according to a clothoid C new, where the wheels are initially straight, the clothoid terminating with a radius of curvature R new different from R min, - displacement according to an inverted clothoid C inew, where the radius of curvature is initially that corresponding to the preceding circular arc (R new), the end of the clothoid terminating with the wheels straight.