It should look something like this
$my_post['tax_input'] = array(
'category' => array(
get_field('categorie', $post_id)
)
);
see https://developer.wordpress.org/reference/functions/wp_insert_post/. Each element of ‘tax_input’ is an array. The key is the taxonomy name and the value is an array of term IDs.
Although I’m not 100% sure that tax_input works with wp_update_post. You may need to use wp_set_object_terms() https://developer.wordpress.org/reference/functions/wp_set_object_terms/