Method for determining at least one alignment of an optoelectronic sensor of a motor vehicle relative to the motor vehicle, wherein the optoelectronic sensor comprises a transmitter device, a receiver unit with at least two receiver elements (7a, 7b), and an evaluation unit, said method including the following steps: - emitting light beams into surroundings of the motor vehicle by the transmitter device, - and receiving light beams reflected at an object by means of the receiver unit, wherein the received light beams are represented by the evaluation unit as scan points (17A, 17B, 17C) in a sensor image of the surroundings of the motor vehicle generated by the optoelectronic sensor and each scan point (17A, 17B, 17C) is assigned to a receiver element (7a, 7b), characterized in that a sensor coordinate system is determined in the generated sensor image using at least two received scan points of the first receiver element and a reference coordinate system is determined in said generated sensor image using at least one scan point of the first receiver element and using at least one scan point of the second receiver element, wherein an angular deviation is determined by way of a comparison of the sensor coordinate system and the reference coordinate system for the purposes of determining the at least one alignment of the optoelectronic sensor, in that the at least two receiver elements (7a, 7b, 7c) are arranged along a vertical axis of the optoelectronic sensor and the sensor image of the optoelectronic sensor has at least two planes, wherein the first plane is formed by the scan points of the first receiver element and the second plane is formed by the scan points of the second receiver element, in that a scan point straight line of the sensor image of the optoelectronic sensor is formed by at least two scan points of the first receiver element and the sensor coordinate system is determined by means of the scan point straight line, in that the angular deviation is determined as an angle between the scan point straight line and a reference straight line of the reference coordinate system, and in that a reference straight line is formed by a scan point of the first receiver element and a scan point of the second receiver element, wherein the scan point of the second receiver element and the scan point of the first receiver element have the same horizontal angle that corresponds to an emission angle when a light beam is emitted into the surroundings of the motor vehicle, and the reference coordinate system is determined by means of the reference straight line. - emitting light beams into surroundings of the motor vehicle by the transmitter device, - and receiving light beams reflected at an object by means of the receiver unit, wherein the received light beams are represented by the evaluation unit as scan points (17A, 17B, 17C) in a sensor image of the surroundings of the motor vehicle generated by the optoelectronic sensor and each scan point (17A, 17B, 17C) is assigned to a receiver element (7a, 7b), in that a sensor coordinate system is determined in the generated sensor image using at least two received scan points of the first receiver element and a reference coordinate system is determined in said generated sensor image using at least one scan point of the first receiver element and using at least one scan point of the second receiver element, wherein an angular deviation is determined by way of a comparison of the sensor coordinate system and the reference coordinate system for the purposes of determining the at least one alignment of the optoelectronic sensor, in that the at least two receiver elements (7a, 7b, 7c) are arranged along a vertical axis of the optoelectronic sensor and the sensor image of the optoelectronic sensor has at least two planes, wherein the first plane is formed by the scan points of the first receiver element and the second plane is formed by the scan points of the second receiver element, in that a scan point straight line of the sensor image of the optoelectronic sensor is formed by at least two scan points of the first receiver element and the sensor coordinate system is determined by means of the scan point straight line, in that the angular deviation is determined as an angle between the scan point straight line and a reference straight line of the reference coordinate system, and in that a reference straight line is formed by a scan point of the first receiver element and a scan point of the second receiver element, wherein the scan point of the second receiver element and the scan point of the first receiver element have the same horizontal angle that corresponds to an emission angle when a light beam is emitted into the surroundings of the motor vehicle, and the reference coordinate system is determined by means of the reference straight line.