1. A computer-implemented method for determining free spaces in the vicinity of a motor vehicle, comprising: obtaining, by a processor of a computer, information about at least one free space located in the vicinity of the motor vehicle from a measurement taken by at least one object detection sensor of the motor vehicle; and using, by the processor, the information from the at least one object detection sensor to calculate at least one probability of a non-occupied state for the least one free space, while taking at least one characteristic of a physical measuring principle of the at least one object detection sensor into account; wherein the processor takes into account that the at least one object detection sensor has the capability of directly detecting a plurality of objects simultaneously.