The invention relates to a parking assistance system for an ego-vehicle (1), comprising a control device (2) for controlling a parking process, in which the ego-vehicle (1) is guided to a target position within a car park (10), the control device (2) can determine the car park (10) based on an environment detection process, wherein the control device (2) is designed to determine multiple parking positions (POS1, POS2, POS3) within the car park (10), wherein a trajectory (TR1, TR2, TR3) for reaching the parking position (POS1, POS2, POS3) is determined for each parking position (POS1, POS2, POS3), a quality value is determined based on the parking position (POS1, POS2, POS3) and/or the associated trajectory (TR1, TR2, TR3), and one of the parking positions (POS1, POS2, POS3) is selected as the target position, wherein the selection of the target position takes places on the basis of the quality value.