Method for adjusting or calibrating a vehicle surroundings sensor, comprising the following steps: positioning a motor vehicle on the guide rails (4, 6) of a measuring station; mounting at least one pair of targets (20, 22) on the rear wheels (12, 14) of the motor vehicle; attaching two measuring units (32, 46), one on each side of the motor vehicle, on, in each case, one of the guide rails (4, 6) between the front wheels (8, 10) and the rear wheels (12, 14) of the motor vehicle with respect to the longitudinal extent of the guide rails (4, 6), wherein each of the measuring units (32, 46) has, in each case, two forwardly directed measuring cameras (36, 38, 50, 52), two rearwardly directed measuring cameras (40, 42, 54, 46) and one transverse reference camera (44, 58) which is oriented in the transverse direction of the vehicle and designed to detect optical features on the respectively opposite measuring unit (32, 34) and/or guide rail (4, 6); determining the position of the measuring units (32, 34) with respect to one another by means of the transverse reference cameras (44, 58); recording the pair of targets (20, 22) by means of at least one measuring unit (32, 46) and determining the driving axis therefrom; positioning at least one target (16, 18) in a known position with respect to vehicle surroundings sensor adjustment or calibration element; recording the target positioned on the vehicle surroundings sensor adjustment or calibration element, by means of the at least one measuring unit (32, 46), and determining the angular position of the vehicle surroundings sensor adjustment or calibration element with respect to the driving axis; orienting the vehicle surroundings sensor adjustment or calibration element with respect to the driving axis; and adjusting or calibrating the vehicle surroundings sensor with respect to the driving axis. positioning a motor vehicle on the guide rails (4, 6) of a measuring station; mounting at least one pair of targets (20, 22) on the rear wheels (12, 14) of the motor vehicle; attaching two measuring units (32, 46), one on each side of the motor vehicle, on, in each case, one of the guide rails (4, 6) between the front wheels (8, 10) and the rear wheels (12, 14) of the motor vehicle with respect to the longitudinal extent of the guide rails (4, 6), wherein each of the measuring units (32, 46) has, in each case, two forwardly directed measuring cameras (36, 38, 50, 52), two rearwardly directed measuring cameras (40, 42, 54, 46) and one transverse reference camera (44, 58) which is oriented in the transverse direction of the vehicle and designed to detect optical features on the respectively opposite measuring unit (32, 34) and/or guide rail (4, 6); determining the position of the measuring units (32, 34) with respect to one another by means of the transverse reference cameras (44, 58); recording the pair of targets (20, 22) by means of at least one measuring unit (32, 46) and determining the driving axis therefrom; positioning at least one target (16, 18) in a known position with respect to vehicle surroundings sensor adjustment or calibration element; recording the target positioned on the vehicle surroundings sensor adjustment or calibration element, by means of the at least one measuring unit (32, 46), and determining the angular position of the vehicle surroundings sensor adjustment or calibration element with respect to the driving axis; orienting the vehicle surroundings sensor adjustment or calibration element with respect to the driving axis; and adjusting or calibrating the vehicle surroundings sensor with respect to the driving axis.