Abstract: A method for determining a semantic free space in an environment of a vehicle comprises capturing a two dimensional visual image from the environment of the vehicle via a camera and determining a limitation of a free space within the visual image. Via a sensor, distance data of objects are captured and assigned to the visual image, and the limitation of the free space is transferred to a bird's-eye view based on the assigned distance data. For objects identified in the visual image a respective bounding box and a respective classification are determined. Objects limiting the free space are selected, and their bounding box is assigned to the limitation of the free space in the bird's-eye view. Finally, segments of the limitation of the free space are classified according to the classification of each bounding box of the selected objects.