Fuente: WIPO "tomato" A construction vehicle may move along a route in a construction environment towards a portion of the construction environment. The construction vehicle may access an image of the portion of the construction environment in front of the construction vehicle. The construction vehicle may apply a rut identification model to the image, where the rut identification model is configured to identify a rut in the portion of the construction environment using pixels of the image. The construction vehicle may, subsequent to identifying the rut in the portion of the construction environment, navigate the construction vehicle along the route based on the identified rut.