A control system for determining a traction quality of a vehicle, the vehicle having an engine, ground-engaging members and suspensions. The control system includes at least one sensor of a parameter indicative of positions of an extension position of at least one of the suspensions, and/or a vertical position of at least one of the ground-engaging members; and a control unit operatively connected to the sensor. The control unit is configured to execute: receiving sensor signals from the sensor; determining a value of at least one of: a positional difference between at least one of the right and left suspensions and the right and left ground-engaging members, and an average position of at least one of the right and left suspensions and the right and left ground-engaging members; and generating a control signal representative of the traction quality of the vehicle at least partly based on the value.