Abstract: A method (400) and a control unit (210) for ground bearing capacity analysis. The method (400) steps include determining (401) a shape of the terrain segment (130) ahead of a vehicle (100), based on sensor measurements; predicting (402) a distance between a sensor (120) of the vehicle (100) and the ground (110) at the terrain segment (130), before the vehicle (100) moves into the terrain segment (130); measuring (403) the distance between the sensor (120) of the vehicle (100) and the ground (110) when the vehicle (100) has moved into the terrain segment (130); and determining (404) that the terrain segment (130) is to be avoided due to insufficient bearing capacity when the predicted (402) distance between the sensor (120) and the ground (110) exceeds the measured (403) distance between the sensor (120) and the ground (110). Also, a method (600) and control unit (210) for route planning of the vehicle (100) are described.

Abstract: A method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle, when driving the vehicle along the road in a driving direction to a destination. The method comprises: detecting a set of tracks of the other vehicle, on the road; estimating the geographical position of the detected set of tracks; comparing the estimated geographical position of the detected set of tracks with map data; rejecting the detected set of tracks when it exits the road or when situated in a driving lane in a direction opposite to the driving direction; and otherwise estimating the stretch of the road based on the set of tracks.

Abstract: A method (400) and a control unit (210) for ground bearing capacity analysis. The method (400) steps include determining (401) a shape of the terrain segment (130) ahead of a vehicle (100), based on sensor measurements; predicting (402) a distance between a sensor (120) of the vehicle (100) and the ground (110) at the terrain segment (130), before the vehicle (100) moves into the terrain segment (130); measuring (403) the distance between the sensor (120) of the vehicle (100) and the ground (110) when the vehicle (100) has moved into the terrain segment (130); and determining (404) that the terrain segment (130) is to be avoided due to insufficient bearing capacity when the predicted (402) distance between the sensor (120) and the ground (110) exceeds the measured (403) distance between the sensor (120) and the ground (110). Also, a method (600) and control unit (210) for route planning of the vehicle (100) are described.

Abstract: A method and control unit in a vehicle for estimating a stretch of a road based on a set of tracks of another vehicle, when driving the vehicle along the road in a driving direction to a destination. The method comprises: detecting a set of tracks of the other vehicle, on the road; estimating the geographical position of the detected set of tracks; comparing the estimated geographical position of the detected set of tracks with map data; rejecting the detected set of tracks when it exits the road or when situated in a driving lane in a direction opposite to the driving direction; and otherwise estimating the stretch of the road based on the set of tracks.