A method of automatically parking in a parking space or parking out of a parking space of a motor vehicle, the parking space being determined by an environment detection system of the motor vehicle, comprising the steps of: defining a target trajectory and a position trajectory lying on the target trajectory relative to the parking space, calculating a steering angle from the current vehicle position, by taking into account known environmental obstacles, a strategically favorable point is reached the target trajectory to subsequently reach the position end point, and using the calculated steering angle as the actual steering angle when entering or leaving parking, characterized in that the target trajectory is formed by a straight line A maximum and a minimum steering angle is determined based on the current location of the vehicle, with the maximum and minimum steering angles preventing collisions with obstacles that may be found in Fa direction of travel are right and left, with the calculated steering angle is selected as an element of the closed interval formed from maximum steering angle and minimum steering angle.
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