Abstract: A parking assistance system for a vehicle includes surround sensors, internal sensors, a data memory, and a processing unit. The surround sensors are configured to provide sensor data of the surrounding of the vehicle. The internal sensors are configured to detect a seat occupancy of passenger seats within the passenger room of the vehicle. The data memory stores a vehicle data model of the vehicle including positions of vehicle doors in the chassis of the vehicle. In addition, the processing unit is configured to process the sensor data received from the surround sensors to calculate an occupancy grid map of the vehicle's surrounding and further configured to calculate disembarking distances for the vehicle doors depending on the vehicle data model, the occupancy grid map and the detected seat occupancy.