Method for determining at least one angular position of an optoelectronic sensor of a motor vehicle, wherein the optoelectronic sensor comprises at least one transmitter device, at least one receiver unit with at least two receiver elements, and at least one evaluation unit, said method including the following steps: - emitting light beams into surroundings of the motor vehicle by the transmitter device, - receiving light beams reflected at an object by means of the receiver unit, wherein the light beams are represented by the evaluation unit as scan points (17, 18, 19, 20) in a sensor image of the surroundings of the motor vehicle generated by the optoelectronic sensor and each scan point (17, 18, 19, 20) is assigned to a receiver element (7a, 7b), wherein at least two line-shaped measurement structures (14, 15), which are arranged parallel to and at a distance from one another, are recognized in the sensor image for the purposes of determining the at least one angular position, wherein at least one angular deviation of the optoelectronic sensor from a target angular position is determined for the purposes of determining the at least one angular position of the optoelectronic sensor on the basis of the scan points (17, 18, 19, 20), which represent the first and the second measurement structure (14, 15), and wherein the optoelectronic sensor is calibrated on the basis of the at least one angular deviation, 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 using at least one scan point of the first receiver element and using at least one scan point of the second receiver element, wherein the scan points, which determine the sensor coordinate system, and the scan points (17A, 17B), which form the reference coordinate system, are assigned to the same one of the at least two measurement structures (14, 15) in the sensor image, and in that the at least one angular deviation of the optoelectronic sensor from the target angular position is determined, for the purposes of determining the at least one angular position of the optoelectronic sensor, by a comparison of the sensor coordinate system with the reference coordinate system. - emitting light beams into surroundings of the motor vehicle by the transmitter device, - receiving light beams reflected at an object by means of the receiver unit, wherein the light beams are represented by the evaluation unit as scan points (17, 18, 19, 20) in a sensor image of the surroundings of the motor vehicle generated by the optoelectronic sensor and each scan point (17, 18, 19, 20) is assigned to a receiver element (7a, 7b), wherein at least two line-shaped measurement structures (14, 15), which are arranged parallel to and at a distance from one another, are recognized in the sensor image for the purposes of determining the at least one angular position, wherein at least one angular deviation of the optoelectronic sensor from a target angular position is determined for the purposes of determining the at least one angular position of the optoelectronic sensor on the basis of the scan points (17, 18, 19, 20), which represent the first and the second measurement structure (14, 15), and wherein the optoelectronic sensor is calibrated on the basis of the at least one angular deviation, 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 using at least one scan point of the first receiver element and using at least one scan point of the second receiver element, wherein the scan points, which determine the sensor coordinate system, and the scan points (17A, 17B), which form the reference coordinate system, are assigned to the same one of the at least two measurement structures (14, 15) in the sensor image, and in that the at least one angular deviation of the optoelectronic sensor from the target angular position is determined, for the purposes of determining the at least one angular position of the optoelectronic sensor, by a comparison of the sensor coordinate system with the reference coordinate system.