Method for generating data and aligning an environment sensor of a motor vehicle

The method involves determining acquisition direction value (alpha ,epsilon ) for deviation of a main acquisition direction (s) of an environment sensor (20) from a target main acquisition direction. Two portions (F1,F2) of geometric driving axles of a motor vehicle (10) are determined. Driving axle values (gamma ,delta ) for deviation of two portions of driving axles. Determination is performed to check whether to alter orientation of main acquisition direction of sensor based on acquisition direction value and driving axle value.