An object classification system 1 for a vehicle 2 comprises a controller configured to receive data from at least one sensor 13 and process the data to classify one or more objects 4,5 external to the vehicle. The processing of the sensor data is controlled in dependence on a surface roughness coefficient indicative of a roughness of the surface on which the vehicle is travelling. An object classification algorithm may be applied to the sensor data. The object classification algorithm may apply a dynamic classification filter, which may be modified in dependence on the surface roughness coefficient or on the vehicle speed. The controller may either receive or determine the surface roughness coefficient. The sensor data may comprise image data received from an image sensor, and the processing may comprise image processing. The system can be used in vehicles travelling in off-road environments and allows objects and vehicles to be detected more reliably.
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