Abstract: A road condition monitoring system for a vehicle is provided. The vehicle is supported by at least one tire and includes a central communication system. The system includes a processor in electronic communication with the central communication system. An identifier is in electronic communication with the processor, receives vehicle condition data from the central communication system, and identifies a free rolling instance of the at least one tire. A slip estimator is in electronic communication with the processor, receives speed data from the central communication system, and determines slip characteristics of the at least one tire during the free rolling instance. A classifier is in electronic communication with the processor, receives the slip characteristics of the at least one tire, and identifies a road surface condition from the slip characteristics.