According to various aspects, a vehicle may include: one or more image sensors configured to provide sensor image data representing a sensor image of a vicinity of the vehicle; one or more processors configured to determine one or more obstacles from the sensor image data, the one or more obstacles corresponding to one or more image objects of the sensor image, determine a distance from ground for each of the one or more obstacles based its corresponding image object, and trigger a safety operation when the distance from ground is equal to or less than a safety height associated with the vehicle.