The brake of a vehicle is of particular importance for vehicle safety. Brake inspection is an essential part of the periodic technical inspection and contributes to road safety. The current vehicle brake inspection methods are mostly tied to brake tester and check the vehicle brake in a workspace that does not have much practical relevance. Therefore, an attempt is made to develop dynamic inspection methods for automotive brakes, which are based on driving tests. To develop these dynamic inspection methods, a vehicle model is used, which includes an empirical brake model that takes into account the various dependencies of the coefficient of friction of the friction pairing of automotive disc brakes. The model is later validated with full-vehicle brake maneuvers from different velocities and under different conditions and shows good results.