Lane keeping support on roads covered by snow

A system for planning a trajectory for a vehicle, the system comprising:

• a camera positioned with a field of view of a road surface in front of the vehicle;
• a vehicle control device configured to automatically maneuver the vehicle;
• and
• an electronic processor communicatively coupled to the camera and the vehicle control device, the electronic processor configured to
• receive images from the camera;
• determine whether the road surface is snow covered based on the images;
• when the road surface is snow covered, determine whether snow ruts are present on the road surface based on the images;
• plan a trajectory of the vehicle based on a location of the snow ruts in the images when the snow ruts are present;
• and
• automatically maneuver the vehicle based on the planned trajectory.