Mapping a vehicle environment

A computer-implemented method and device for mapping a vehicle environment of a vehicle (fig 1, 10) are disclosed. The method comprising determining an occupancy grid representing the vehicle environment, the occupancy grid comprising occupancy probability information of a first set of object detections, wherein the occupancy probability information is determined from first positioning information obtained from a first sensor system 210, the first positioning information indicating one or more positions of the first set of object detections with respect of the vehicle; obtaining semantic information and second positioning information associated with the semantic information from one or more semantic information sources, the semantic information comprising object classification information of a second set of object detections, the second positioning system indicating one or more positions of the second set of object detections with respect to the vehicle; and combining the object classification information of the second set of object detections with the occupancy probability information of the occupancy grid to generate a classified occupancy grid.