Method for calibrating a sensor of a motor vehicle for measuring angles, computing device, driver assistance system and motor vehicle

A method for calibrating a sensor of a motor vehicle, comprising:

• while the motor vehicle is moved relative to an object that is not elongated, continuously receiving a reception signal in each case by a computing device from two reception devices of the sensor that are separated by a known distance, said reception signal describing a sensor signal that is emitted by the sensor and reflected at the object;
• determining a measurement angle between the sensor and the object on the basis of a phase difference between the reception signals;
• continuously determining a relative orientation between the sensor and the object on the basis of the reception signals;
• determining a plurality of distance values as a function of time as a time curve by evaluation of the reception signals determined in temporally successive measurement cycles, each distance value describing a distance between the sensor and the object;
• determining, by the computing device, a reference time at which the relative orientation corresponds to a predetermined reference orientation for which a reference angle between the sensor and the object is known, the predetermined reference orientation determined in such a way that an imaginary connecting line between the sensor and the object is arranged perpendicular to a longitudinal axis of the motor vehicle, wherein the reference time is determined based on a first distance value that corresponds to a minimum distance value of the time curve of the plurality of distance values as a function of time;
• and
• determining the measurement angle for the reference time and calibrating the sensor on the basis of a comparison between the measurement angle for the reference time and the reference angle.