Method for determining the orientation of a distance recording device arranged in or on a motor vehicle, having the following steps of: - moving the motor vehicle substantially in a plane perpendicular to the direction of action of the force of gravity, - determining a first angle (α) between the longitudinal axis of the distance recording device and the plane by means of a first acceleration sensor which is arranged on the distance recording device and to which the force of gravity is applied, the direction of action of the first acceleration sensor being arranged parallel to the longitudinal axis of the distance recording device, - determining a second angle (β) between the transverse axis of the distance recording device and the plane by means of a second acceleration sensor which is arranged on the distance recording device and to which the force of gravity is applied, the direction of action of the second acceleration sensor being arranged parallel to the transverse axis of the distance recording device, - determining a third angle (δ) between the longitudinal axis of the distance recording device and a longitudinal axis of the motor vehicle in the plane by means of a third acceleration sensor which is arranged on the distance recording device and to which an inertial force generated by the movement of the motor vehicle is applied, the direction of action of the third acceleration sensor being arranged perpendicular to the longitudinal axis of the distance recording device, with the result that an inertial force acts on the acceleration sensor if the distance recording device encloses an angle of greater than zero between its longitudinal axis and the longitudinal axis of the motor vehicle. - moving the motor vehicle substantially in a plane perpendicular to the direction of action of the force of gravity, - determining a first angle (α) between the longitudinal axis of the distance recording device and the plane by means of a first acceleration sensor which is arranged on the distance recording device and to which the force of gravity is applied, the direction of action of the first acceleration sensor being arranged parallel to the longitudinal axis of the distance recording device, - determining a second angle (β) between the transverse axis of the distance recording device and the plane by means of a second acceleration sensor which is arranged on the distance recording device and to which the force of gravity is applied, the direction of action of the second acceleration sensor being arranged parallel to the transverse axis of the distance recording device, - determining a third angle (δ) between the longitudinal axis of the distance recording device and a longitudinal axis of the motor vehicle in the plane by means of a third acceleration sensor which is arranged on the distance recording device and to which an inertial force generated by the movement of the motor vehicle is applied, the direction of action of the third acceleration sensor being arranged perpendicular to the longitudinal axis of the distance recording device, with the result that an inertial force acts on the acceleration sensor if the distance recording device encloses an angle of greater than zero between its longitudinal axis and the longitudinal axis of the motor vehicle.