This paper comprises obtaining friction coefficient (μ) measure by extracting surface and texture information using sensors during brake interventions. A primary estimate of friction coefficient has been obtained using wheel and vehicle signals. The estimates have been compared and combined to obtain a more accurate measure of friction coefficient. Finally, a suitable interpolation technique is used to obtain a μ-grid around the vehicle. The grid is graphically realized with the aid of visualization techniques using vehicle traces. This type of surface characterization usually enables brake distance optimization and effective countermeasures pertaining to a standard ESP system.