Abstract: A method for creating a road model for a driver assistance system of an ego vehicle includes recording the surroundings of the ego vehicle with at least one environment detection sensor. The method also includes detecting static and/or dynamic objects and creating a grid map having a plurality of grid cells. Static objects are entered into the grid map as occupied grid cells. The method also includes tracking the static objects and/or the dynamic objects. Information regarding a road profile is deduced based on the detections entered in the grid map and the tracked objects. A road model with the deduced information is created. The road model is provided to at least one driver assistance system.