US Patent 10435020 Lane keeping support on roads covered by snow

A method and system for planning a trajectory for a vehicle. The system includes a camera and an electronic processor that, in conjunction, sense a road surface in front of the vehicle and determine whether the road surface is snow covered based on images from the camera. When the road surface is snow covered, the electronic processor determines whether snow ruts are present on the road surface based on the images and plans a trajectory of the vehicle based on a location of the snow ruts in the images when the snow ruts are present. The electronic processor is configured to automatically maneuver the vehicle based on the planned trajectory.