1. A method of detecting overhanging objects in an external environment of an autonomous vehicle, the method comprising: identifying one or more floating obstacle candidates based on sensor data acquired from at least a forward portion of the external environment; filtering out the identified one or more floating obstacle candidates based on one or more predefined parameters; determining a driving maneuver for the autonomous vehicle at least partially based on a height clearance between the autonomous vehicle and floating obstacle candidates that remain after being filtered out; and causing the autonomous vehicle to implement the determined driving maneuver.