METHOD FOR SUPPORTING A DRIVER WHEN PARKING OF A MOTOR VEHICLE, DRIVER ASSISTANCE SYSTEM AND MOTOR VEHICLE

The invention relates to a method for assisting a driver in parking a motor vehicle (1) with the steps: moving the motor vehicle (1) on a driving lane (11) along a predetermined driving trajectory (15, 16), wherein the driving lane (11) is bounded by at least one parking space row (9) and wherein the at least one parking space row (9) has a plurality of parking spaces (10) for the motor vehicle (1) (S1), receiving environment data which describe an environment (4) of the driving lane (11) by means of a receiving device (3) of the motor vehicle (1), determining whether the at least one of the driving lanes (11) has a free parking space (18) based on the received environment data by means of an evaluation device (5) of the motor vehicle (1), and adapting the predetermined driving trajectory (15, 16) if a free parking space (18) is determined, wherein an adapted driving trajectory (17) compared to the predetermined driving trajectory (15, 16) has at least sections with a smaller distance to the at least one parking space row (9) (S5).