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.