1. A system for assisting vehicle parking, the system comprising: a three-dimensional flash Lidar mounted on a vehicle, the Lidar being configured to transmit laser beams to surroundings of the vehicle and detect reflections of at least part of the transmitted laser beams reflected on surfaces of the surroundings, the Lidar providing information indicative of intensity of reflections detected by the Lidar; and a three-dimensional model generation module configured to generate a three-dimensional model of surroundings of the vehicle, wherein the three-dimensional model generation module is configured to determine presence of an object at a location by comparing intensity of reflections from the location against intensity that laser beams would have when reflected on a concrete or street surface; and a determination module configured to determine availability of a parking space in the surroundings of the vehicle based on determination of presence of the object at the location.