Abstract: A method for manoeuvring a motor vehicle into a parking space includes: determining a parking trajectory from a starting point to a destination point in the parking space, wherein the parking trajectory includes circular arcs, straight lines, and clothoids; manoeuvring the motor vehicle along the determined parking trajectory into the parking space; and determining an auxiliary trajectory with a plurality of sections from the starting point to the destination point. The auxiliary trajectory includes circular arcs and straight lines as the sections, a respective transition region is defined for neighbouring sections, and a clothoid is determined for the respective transition regions. The parking trajectory is determined from the auxiliary trajectory in which the respective transition regions are replaced by the clothoids.

Abstract: The invention relates to a method for manoeuvring a motor vehicle (1) into a parking space in which a parking trajectory (9) from a starting point (11) to a destination point (12) in the parking space is determined, wherein the parking trajectory (9) is composed of circular arcs (13, 13?), straight lines (14, 14?) and clothoids (17), and the motor vehicle (1) is manoeuvred along the determined parking trajectory (9) into the parking space, wherein an auxiliary trajectory (10) with a plurality of sections is determined from the starting point (11) to the destination point (12), wherein the auxiliary trajectory (10) comprises circular arcs (13, 13?) and straight lines (14, 14?) as the sections, a respective transition region (16) is defined for neighbouring sections, and a clothoid (17) is determined for the respective transition regions (16), wherein the parking trajectory (9) is determined from the auxiliary trajectory (10) in which the respective transition regions (16) are replaced by the clothoids (17).