Computer implemented method for generating a dynamic occupancy grid in front of a host vehicle, the method comprising: - detecting an indicator (29, 31) for the course of a lane of a road in front of the host vehicle via a detection system of the host vehicle, - determining, via a computer system of the host vehicle, a base area based on the detected indicator (29, 31), the base area being restricted to a region of interest in front of the host vehicle, - defining, via the computer system, a plurality of cells by dividing the base area in order to form the occupancy grid, and - for each cell of the occupancy grid, determining whether the cell is occupied at least partly by a detectable object via the computer system based on data provided by the detection system, wherein a reference line is defined via the computer system along the lane based on the indicator (29, 31), and the base area is determined on both sides of the reference line, the reference line is divided into segments and, for each of the segments, a respective row of cells is defined perpendicularly to the reference line, characterized in that for each row of cells, a number of cells is adjusted to a curvature of the lane by selecting a greater number of cells on a first side to which the reference line is curved and a smaller number of cells on a second side from which the reference line departs. the method comprising: - detecting an indicator (29, 31) for the course of a lane of a road in front of the host vehicle via a detection system of the host vehicle, - determining, via a computer system of the host vehicle, a base area based on the detected indicator (29, 31), the base area being restricted to a region of interest in front of the host vehicle, - defining, via the computer system, a plurality of cells by dividing the base area in order to form the occupancy grid, and - for each cell of the occupancy grid, determining whether the cell is occupied at least partly by a detectable object via the computer system based on data provided by the detection system, wherein a reference line is defined via the computer system along the lane based on the indicator (29, 31), and the base area is determined on both sides of the reference line, the reference line is divided into segments and, for each of the segments, a respective row of cells is defined perpendicularly to the reference line, - detecting an indicator (29, 31) for the course of a lane of a road in front of the host vehicle via a detection system of the host vehicle, - determining, via a computer system of the host vehicle, a base area based on the detected indicator (29, 31), the base area being restricted to a region of interest in front of the host vehicle, - defining, via the computer system, a plurality of cells by dividing the base area in order to form the occupancy grid, and - for each cell of the occupancy grid, determining whether the cell is occupied at least partly by a detectable object via the computer system based on data provided by the detection system, wherein a reference line is defined via the computer system along the lane based on the indicator (29, 31), and the base area is determined on both sides of the reference line, the reference line is divided into segments and, for each of the segments, a respective row of cells is defined perpendicularly to the reference line, a reference line is defined via the computer system along the lane based on the indicator (29, 31), and the base area is determined on both sides of the reference line, the reference line is divided into segments and, for each of the segments, a respective row of cells is defined perpendicularly to the reference line, characterized in that for each row of cells, a number of cells is adjusted to a curvature of the lane by selecting a greater number of cells on a first side to which the reference line is curved and a smaller number of cells on a second side from which the reference line departs.