A method for automatically parking in a parking space or for parking a parking space of a motor vehicle, wherein the parking space is determined by an environment detection system of the motor vehicle, comprising the following steps: defining a target trajectory and a lying on the target trajectory position endpoint relative to the parking space, Calculating a steering angle starting from the current vehicle position, by means of which, taking into account known environmental obstacles, the target trajectory is reached in order subsequently to reach the position end point, and using the calculated steering angle as the actual steering angle when entering or leaving the vehicle.
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