Parking assistance system

A parking assistance system (1) for a vehicle (VEH) comprising surround sensors (2) adapted to provide sensor data of the vehicle's surrounding; internal sensors (5) adapted to detect a seat occupancy, SO, of passenger seats within the passenger room (PR) of the vehicle (VEH); a data memory (6) storing a vehicle data model, VDM, of the vehicle (VEH) including positions of vehicle doors (VDs) in the vehicle's chassis; a processing unit (3) adapted to process the sensor data received from the surround sensors (2) to calculate an occupancy grid map, OGM, of the vehicle's surrounding and further adapted to calculate disembarking distances for the vehicle doors (VDs) depending on the vehicle data model, VDM, the occupancy grid map, OGM, and the detected seat occupancy, SO.