A vehicle includes a brake system configured to resist vehicle movement. The vehicle also includes at least one controller in communication with the brake system. The controller is programmed to detect an initiation of a braking event and monitor raw signal data associated with the brake system during the braking event. The controller is also programmed to generate a feature data set based on the raw signal data that is indicative of performance of at least one component of the brake system. The controller is further programmed to identify a vehicle maneuver class based on a rate of change of vehicle movement, store the feature data set and the identified vehicle maneuver class as a data vector, and transmit the data vector to a processor.