Computer implemented method for generating a dynamic occupancy grid in front of a host vehicle , the method comprising: - detecting an indicator 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 , 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 , 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 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 , 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 , 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 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 , 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 , 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 , 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. <EOS>