Method for updating an occupation map associated with an environment , with the following steps: - Providing an occupancy map with several discrete cells , each containing original occupancy information about the original allocation of corresponding areas of the environment , - discrete scanning of a sub-area of the environment with a sensor of a vehicle , - due to the sampled sub-area of the field , detection of discrepancies between the current allocation of the sub-area and the original occupancy information of the corresponding cells of the occupancy map , - Bundling the detected inconsistencies to a correla-tion occupation map , which is assigned to the sampled sub-area of the environment and each of which includes an occupancy information about the current occupation of the subregion, and - Updating the occupancy map by updating the assignment information of the cells assigned to the sub-rich by the corresponding occupancy information of the cells of the correction occupation map , - discrete scanning of the sub-area of the environment with the sensor while the vehicle is moving within the environment , - due to the scanned sub-range of the environment , identification of inconsistencies between the current occupancy of the environment and the information of the corresponding cells of the correction allocation map , and - Disabling the correction occupation map , - Bundling the detected inconsistencies to a further correction occupation map, with each of its cells each include occupancy information on the current occupancy of corresponding areas of the environment , and - Update the occupation map by updating the assignment information of the cells assigned to the further subrange by the corresponding assignment information of the cells of the further correction occupation map. - Providing an occupancy map with several discrete cells , each containing original occupancy information about the original allocation of corresponding areas of the environment , - discrete scanning of a sub-area of the environment with a sensor of a vehicle , - due to the sampled sub-area of the field , detection of discrepancies between the current allocation of the sub-area and the original occupancy information of the corresponding cells of the occupancy map , - Bundling the detected inconsistencies to a correla-tion occupation map , which is assigned to the sampled sub-area of the environment and each of which includes an occupancy information about the current occupation of the subregion, and - Updating the occupancy map by updating the assignment information of the cells assigned to the sub-rich by the corresponding occupancy information of the cells of the correction occupation map , - discrete scanning of the sub-area of the environment with the sensor while the vehicle is moving within the environment , - due to the scanned sub-range of the environment , identification of inconsistencies between the current occupancy of the environment and the information of the corresponding cells of the correction allocation map , and - Disabling the correction occupation map , - Bundling the detected inconsistencies to a further correction occupation map, with each of its cells each include occupancy information on the current occupancy of corresponding areas of the environment , and - Update the occupation map by updating the assignment information of the cells assigned to the further subrange by the corresponding assignment information of the cells of the further correction occupation map. <EOS>