Abstract: A method for detecting garage parking spaces for vehicles (1) in an area surrounding a vehicle (1) using a parking assistance system (2), wherein the vehicle (1) has at least one environment sensor (8, 10, 11, 12, 13, 14, 15), is designed such that garage parking spaces in a garage (20) can be reliability detected. This is achieved by providing a method comprising the steps of receiving sensor data using the parking assistance system (2) from the at least one environment sensor (8, 10, 11, 12, 13, 14, 15) from the surrounding area, transmission of sensor data to an on-board computer unit (6), creating a digital environment map of the surrounding area from the sensor data, detection of a parking space-like subregion (21) of the surrounding area in the environment map, classifying the parking space-like subregion (21) as a garage parking space by means of deep learning models.