The invention refers to kinematic road gradient estimation. A vehicle and vehicle system is provided with a controller; the controller is configured to use an extended kalman filter to generate output for indicating kinematic road gradient estimation. The extended kalman filter comprises system input based on longitudinal acceleration and acceleration offset and system output based on predicted system output. The acceleration offset is based on at least one from the group of transverse velocity, transverse offset and vehicle pitch angle. The controller is also configured to generate output indicating kinematic quality factors which are corresponding with the usability of the kinematic road gradient estimation.