1. Method for detecting a clear path of travel for a vehicle, comprising generating a datastream corresponding to a three-dimensional scan of a target area surrounding the vehicle from a vehicle LIDAR system; estimating a ground plane for a present vehicle location using the datastream corresponding to the three-dimensional scan of the target area surrounding the vehicle; and comparing the datastream corresponding to the three-dimensional scan of the target area surrounding the vehicle with the estimated ground plane to detect a clear path of vehicle travel.