Method and System for Creating a Semantic Representation of the Environment of a Vehicle

The invention relates to a method for creating a semantic representation of the environment of a vehicle, having the following steps: acquiring (S) sensor measuring data by means of at least one first () and/or second environment detection sensor () of the vehicle, detecting (S) objects and free spaces in the environment of the vehicle, creating (S) a grid map having occupied and free grid cells based on the detected objects and free spaces; determining (S) height information by means of the at least one first () and/or second environment detection sensor (); adding (S) the height information to each grid cell; allocating (S) semantic information to the grid cells based on the height information.