A method and system for detecting an obstacle comprises a terrain estimator for estimating a local terrain surface map based on at least one of range data points, color data, and infrared data gathered by electromagnetic perception focused in front of a vehicle. The map is composed of a series of terrain cells. An analyzer estimates at least one of predicted roll data, predicted pitch data, predicted ground clearance data, and predicted friction coefficient data based on the estimated terrain map for respective terrain cells and vehicular constrain data. A local planner determines predicted vehicle control data for terrain cells within the terrain along a planned path of the vehicle. One or more vehicle sensors sense at least one of actual roll data, actual pitch data, actual ground clearance data, and actual friction coefficient data for the terrain cells when the vehicle is coextensively positioned with the corresponding terrain cell. A learning module adjusts at least one of the terrain map estimation and the control data determination based on the sensed actual data.