Method for determining a roadway condition and vehicle having at least two wheel-selective steering actuators

A method for determining a roadway condition by means of steering actuators, wherein first and second steering actuators are arranged on respective vehicle wheels assigned to a same vehicle axle, the method comprising:

• sensing a measurement variable of the first steering actuator;
• sensing a measurement variable of the second steering actuator;
• comparing the sensed measurement variables of the two steering actuators;
• determining an inhomogeneity signal from the deviation between the sensed measurement variables of the two steering actuators, wherein an inhomogeneity signal value within a tolerance range represents a homogeneous roadway condition and an inhomogeneity signal value outside the tolerance range represents an inhomogeneous roadway condition.