Computer implemented method for generating a dynamic 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 dynamic grid, receiving, via the detection system, qualifying data relating to the base area, and determining, via the computer system, a valuation for each cell based on the qualifying data, characterized by deciding, via the computer system, for each cell based on the valuation whether the respective cell is to be split or to be merged with an adjacent cell, and based on the decision, modifying the respective cell by splitting the cell or by merging the cell with at least one adjacent cell via the computer system, or leaving the respective cell unmodified, wherein the qualifying data comprises a plurality of data sets, each data set provides a contribution to the valuation of the respective cell, at least one of the data sets includes a classification of the respective cell, a plurality of split types is defined for the cells, one of the split types is selected for the respective cell if two subcells which are generated according to the respective split type have different classifications, and the split types comprise vertical splitting, horizontal splitting, diagonal splitting from top right to bottom left of the respective cell, and diagonal splitting from top left to bottom right. 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 dynamic grid, receiving, via the detection system, qualifying data relating to the base area, and determining, via the computer system, a valuation for each cell based on the qualifying data, deciding, via the computer system, for each cell based on the valuation whether the respective cell is to be split or to be merged with an adjacent cell, and based on the decision, modifying the respective cell by splitting the cell or by merging the cell with at least one adjacent cell via the computer system, or leaving the respective cell unmodified, wherein the qualifying data comprises a plurality of data sets, each data set provides a contribution to the valuation of the respective cell, at least one of the data sets includes a classification of the respective cell, a plurality of split types is defined for the cells, one of the split types is selected for the respective cell if two subcells which are generated according to the respective split type have different classifications, and the split types comprise vertical splitting, horizontal splitting, diagonal splitting from top right to bottom left of the respective cell, and diagonal splitting from top left to bottom right.