A method in a vehicle for determining road properties is described. The method includes: acquiring vehicle acceleration in x, y and z directions; acquiring a rack force; acquiring a wheel speed for each of all four wheels; determining a wheel speed energy based on the wheel speed; determining a wheel slip of all four wheels of the vehicle based on a respective wheel speed of the wheel; determining an acceleration energy in each of the x, y and z-directions based on the vehicle acceleration and the vehicle speed; determining a rack force energy based on the detected rack force; and determining road properties based on the wheel speed energy, rack force energy and vehicle speed. A system is also described for performing the method.