Method for determining a parking space from a number of measuring points which are supplied by means of a predictive stereo-video sensor or of a predictive mono-video sensor, wherein a measuring point describes in each case a position of an obstacle in the surroundings of a vehicle, comprising the steps: - capturing an image of the surroundings of the vehicle with a camera which is arranged on the vehicle, - reading out position data of the vehicle, - defining a search trace, wherein the search trace corresponds to an expected movement path of the vehicle and follows the road profile, and wherein the search trace is defined on the basis of a detection of road markings or of the road boundary which are detected by means of pattern recognition from the image of the surroundings of the vehicle, - determining an orientation of possible parking spaces with respect to the search trace on the basis of the pattern of the surroundings of the vehicle, which parking spaces are detected by means of image recognition from the image of the surroundings of the vehicle, - assigning the measuring points to, in each case, one associated point on the search trace taking into account the determined orientation of possible parking spaces with respect to the search trace, wherein an associated point on the search trace is the point of intersection of a straight line with the search trace, wherein the straight line runs through the corresponding measuring point and has an angle (α) with respect to the search trace, wherein the angle (α) describes the orientation, wherein each point of the search trace to which a measuring point (d) has been assigned is also assigned a distance value which describes a distance between the respectively associated measuring point and the search trace corresponding to the orientation of possible parking spaces, wherein the points on the search trace which are not assigned a measuring point are assigned a predefined distance value (c), wherein the predefined distance value (c) is adapted in accordance with the width of a road which is determined from a map of the navigation system, and - determining a parking space on the basis of the points of the search trace which have not been assigned a measuring point, wherein a parking space is determined if: o at least one point on the search trace has a distance value (d) which is larger by a specific depth value than the distance values (d) of the points on the search trace which adjoin the at least one point, and o there is a specific minimum distance between the adjoining points. - capturing an image of the surroundings of the vehicle with a camera which is arranged on the vehicle, - reading out position data of the vehicle, - defining a search trace, wherein the search trace corresponds to an expected movement path of the vehicle and follows the road profile, and wherein the search trace is defined on the basis of a detection of road markings or of the road boundary which are detected by means of pattern recognition from the image of the surroundings of the vehicle, - determining an orientation of possible parking spaces with respect to the search trace on the basis of the pattern of the surroundings of the vehicle, which parking spaces are detected by means of image recognition from the image of the surroundings of the vehicle, - assigning the measuring points to, in each case, one associated point on the search trace taking into account the determined orientation of possible parking spaces with respect to the search trace, wherein an associated point on the search trace is the point of intersection of a straight line with the search trace, wherein the straight line runs through the corresponding measuring point and has an angle (α) with respect to the search trace, wherein the angle (α) describes the orientation, wherein each point of the search trace to which a measuring point (d) has been assigned is also assigned a distance value which describes a distance between the respectively associated measuring point and the search trace corresponding to the orientation of possible parking spaces, wherein the points on the search trace which are not assigned a measuring point are assigned a predefined distance value (c), wherein the predefined distance value (c) is adapted in accordance with the width of a road which is determined from a map of the navigation system, and - determining a parking space on the basis of the points of the search trace which have not been assigned a measuring point, wherein a parking space is determined if: o at least one point on the search trace has a distance value (d) which is larger by a specific depth value than the distance values (d) of the points on the search trace which adjoin the at least one point, and o there is a specific minimum distance between the adjoining points. o at least one point on the search trace has a distance value (d) which is larger by a specific depth value than the distance values (d) of the points on the search trace which adjoin the at least one point, and o there is a specific minimum distance between the adjoining points.