In one embodiment, an autonomous driving system of an autonomous driving vehicle perceives a driving environment surrounding the autonomous driving vehicle traveling along a path, including perceiving an obstacle in the driving environment. The system detects a vertical acceleration of the autonomous driving vehicle based on sensor data obtained from a sensor on the autonomous driving vehicle. The system further calibrates the perceived obstacle based on the vertical acceleration of the autonomous driving vehicle. The system then controls the autonomous driving vehicle to navigate through the driving environment in view of the calibrated perceived obstacle.