Method for calibrating a radar sensor of a motor vehicle, in which the radar sensor to be calibrated is used to carry out at least one measurement cycle, wherein a reception signal is determined in the measurement cycle with the radar sensor, which reception signal describes a plurality of reference objects each situated at known positions in an environment of the radar sensor, the motor vehicle is moved relative to the reference objects during calibration and a current location of the motor vehicle is determined during this movement in the at least one measurement cycle on the basis of the reception signal and the known positions of the reference objects, wherein the motor vehicle is manoeuvred along a trajectory relative to the reference objects, wherein the reception signal describes a plurality of the reference objects and comprises distance values each describing a distance (13a to 13c) between the radar sensor and one of the reference objects, characterized in that the current location of the motor vehicle is determined on the basis of the respective distance values, and wherein the radar sensor is calibrated on the basis of the determined reception signal and the current location of the motor vehicle, which describes a relative location and an orientation of the motor vehicle with respect to the detected reference objects, wherein the reception signal comprises at least one angle value describing an angle between the radar sensor and one of the reference objects, at least one angle (15a to 15c) between the radar sensor and the one of the reference objects is calculated on the basis of the current location and the known positions of the reference objects, and the radar sensor is calibrated on the basis of a difference between the angle value and the calculated angle (15a to 15c). the motor vehicle is moved relative to the reference objects during calibration and a current location of the motor vehicle is determined during this movement in the at least one measurement cycle on the basis of the reception signal and the known positions of the reference objects, wherein the motor vehicle is manoeuvred along a trajectory relative to the reference objects, wherein the reception signal describes a plurality of the reference objects and comprises distance values each describing a distance (13a to 13c) between the radar sensor and one of the reference objects, characterized in that the current location of the motor vehicle is determined on the basis of the respective distance values, and wherein the radar sensor is calibrated on the basis of the determined reception signal and the current location of the motor vehicle, which describes a relative location and an orientation of the motor vehicle with respect to the detected reference objects, wherein the reception signal comprises at least one angle value describing an angle between the radar sensor and one of the reference objects, at least one angle (15a to 15c) between the radar sensor and the one of the reference objects is calculated on the basis of the current location and the known positions of the reference objects, and the radar sensor is calibrated on the basis of a difference between the angle value and the calculated angle (15a to 15c).