High-field experiments are very sensitive to the exact value of the peak intensity of an optical pulse due to the nonlinearity of the underlying processes. Therefore, precise knowledge of the pulse intensity, which is mainly limited by the accuracy of the temporal characterization, is a key prerequisite for the correct interpretation of experimental data. While the detection of energy and spatial profile is well established, the unambiguous temporal characterization of intense optical pulses, another important parameter required for intensity evaluation, remains a challenge, especially at relativistic intensities and a few-cycle pulse duration. Here, we report on the progress in the temporal characterization of intense laser pulses and present the relativistic surface second harmonic generation dispersion scan (RSSHG-D-scan)-a new approach allowing direct on-target temporal characterization of high-energy, few-cycle optical pulses at relativistic intensity.