Method, computer program product, parking assistance system, and vehicle

A parking assistance system for a vehicle,

• wherein in a follow mode the parking assistance system is configured to autonomously follow a trajectory from a number of trajectories taught in a training mode,
• wherein the respective trajectory is a sequence of positions and connects a starting position to a target position, and
• wherein the respective trajectory has an associated and stored number of images, captured by an on-board camera, of an environment of the vehicle at the respective position,
• the parking assistance system comprising:
• a delivery unit configured to deliver a number of stored images,
• a determination unit to determine a display that includes the delivered images configured to represent the respective associated trajectory,
• an output unit configured to output the determined display to a display device of a user interface of the vehicle,
• a receiving unit configured to receive a user input to select at least one image contained in the display from the user interface;
• and
• a control unit configured to initiate an autonomous travel of the vehicle along the trajectory associated with the selected image.