A method directed to at least partially automated control of a motor vehicle while entering or exiting a parking space, including determining a destination position for the motor vehicle following the automated entering or exiting of a parking space; determining a trajectory the motor vehicle to reach the destination position from a starting position of the motor vehicle; providing data representing ground-level obstacles along the trajectory. If ground-level obstacle is detected along the trajectory, determining at least one longitudinal control parameter of the motor vehicle for driving over the ground-level obstacle. At least partially automated movement of the motor vehicle from the starting position until reaching the destination position long the determined trajectory by the at least one longitudinal control of the motor vehicle.