An illustrative example embodiment of a computer implemented method for estimating a vertical profile of a road in front of or behind a host vehicle includes monitoring a detection point at a surrounding or preceding vehicle by a sensor on the host vehicle, determining at least one value for a height of the detection point with respect to a reference level at the host vehicle based on the elevation angle of the detection point, and estimating the vertical profile of the road based on the at least one value for the height of the detection point. An estimation of a height of the object with respect to a road surface may be corrected by the estimated vertical profile.