A method for estimating a grip of a tire supporting a vehicle includes generating a first set of data from a tire-mounted sensor unit, generating a second set of data from the tire-mounted sensor unit and from data obtained from the vehicle, and generating a third set of data from data obtained from the vehicle and from the Internet. A grip estimation module is provided. The first, second and third sets of data are received in the grip estimation module. A friction probability distribution is calculated with the grip estimation module using the first, second and third sets of data, and the friction probability distribution is input into at least one vehicle system.