A vehicle brake system and method that are designed to improve the driver braking experience by compensating for the effects that humidity and temperature can have on brake performance. According to one embodiment, the method determines if a braking event is underway and, if so, it measures humidity and brake temperature. With this information, the method is able to compensate for anticipated changes in the coefficient of friction (μ) of one or more brake components, such as brake pads or rotors, and to provide a modified brake command signal accordingly.