Method and system for detecting parking spaces which are suitable for a vehicle

A method for detecting parking spaces suitable for a vehicle, comprising the following steps:

• emitting a radar signal from a radar device installed in the traveling vehicle;
• receiving with the radar device a plurality of radar signals reflected by parked vehicles and surrounding elements;
• generating a distribution of the received radar signals in the X coordinate direction and the Y coordinate direction, wherein the X coordinate direction corresponds to a direction of movement of the vehicle and the Y coordinate direction is perpendicular to the direction of movement of the vehicle;
• determining a first straight line and at least a second straight line which define a parking area of the parked vehicles on the basis of the frequency of distribution of the received radar signals;
• forming a projection profile which represents the frequency of distribution of the received radar signals in the parking area of the parked vehicles perpendicular to the straight line;
• and
• determining a parking space on the basis of a prediction error function along the determined straight line, wherein a periodicity for the vehicles parked along the parking area is calculated by the projection profile and a gap in the projection profile assumes the highest value of the prediction error function in comparison to the calculated periodicity and indicates the parking space within the parking area.