Mapping a Vehicle Environment

A computer-implemented method and device for mapping a vehicle environment of a vehicle are disclosed. The method comprises determining an occupancy grid representing the vehicle environment, including occupancy probability information of a first set of object detections. The occupancy probability information is determined from first positioning information obtained from a first sensor system. Semantic information and second positioning information associated with the semantic information from one or more semantic information sources is obtained. The semantic information comprises object classification information of a second set of object detections and the second positioning system indicates one or more positions of the second set of object detections with respect to the vehicle. The object classification information of the second set of object detections is combined with the occupancy probability information of the occupancy grid to generate a classified occupancy grid.