PREVENTIVE VEHICLE PATH PLANNING

The invention relates to preventive vehicle path planning. The path adaptation system determines (1001) conditions of liquid and/or solid bulk material in the air and/or on the road surface in the vicinity of the host vehicle based on the collected input data. The path adaptation system also determines (1002) a motion attribute related to the host vehicle of at least a first target (3) in the host vehicle surroundings, the motion attribute being captured under support of one or more surroundings detection sensors (23) on the host vehicle. And, the path adaptation system determines (1003), based on the conditions and the motion attributes, at least a first estimated upcoming host vehicle position (4) occurring at at least a first estimated upcoming time instance (Te), where the at least first estimated upcoming host vehicle position, at least the first detection target is pre-estimated to direct material onto the host vehicle and/or the host vehicle is pre-estimated to direct material onto at least the first d