Multi-material lattice structures demonstrate superior mechanical advantages and lightweight potential, enabling it preferable in many engineering fields, especially with the rise of additive manufacturing. However, employing multi-scale topology optimization inherently involves computational complexities of designing the macromaterial distribution and microlattice geometric size simultaneously. In this paper, a modified relative density mapping (MRDM) method is proposed, which generates a multi-material lattice structure by projecting the continuum multi-material topology optimization results. The proposed method extends the standard relative density mapping (RDM) method to multi-material problem and improves the performance. To achieve such purpose, a new mapping relation considering multi-material density and stress information is introduced to generate mapping weight of materials, which is the most novel contribution. Second, to avoid intersection of different materials, two types of material mapping strategies, namely continuous mapping strategy, and discrete mapping strategy, are introduced to generate multi-material lattice structure using the mapping weight of materials. Several numerical examples are exhibited, which demonstrate that the proposed method is capable of generating a multi-material lattice structure with clear material interface and good performance.