Method for assisting a parking procedure of a vehicle

The method for the assistance of a parking manoeuvre of a vehicle in a parking space (1) to the side of the vehicle is carried out by a sensing system, whereby the position of the parking space boundary (14) furthest from the vehicle (2) and/or the orientation of this boundary with regard to the vehicle is calculated from data recorded by the sensing system before the reaching and/or after the passing of the parking space by the vehicle. The length (11) of the parking space and its depth (12) can be determined while the vehicle moves past it.