In this study, dynamic maps are being constructed for the road stability of autonomous vehicles and vehicles equipped with ADAS (Advanced Driver-Assistance Systems), which are currently undergoing demonstration experiments. Tire and road surface friction characteristics, which govern vehicle motion performance, are important, and a database is being built to add road surface characteristics data, which vary in various driving environments, to the dynamic map. In previous research, a measurement method of road friction coefficient and an estimation method of road friction characteristics were proposed. However, there is a problem that the overall estimation accuracy is affected by the estimation accuracy of the coefficient of friction at the time of tire lock, and the estimation accuracy decreases. Therefore, in this paper, the friction coefficient, at the time of tire lock is estimated by the estimation method considering the friction state change of the tire block in the ground plane in the physical tire model. This paper describes the results of an attempt to improve the estimation accuracy of overall road surface friction characteristics. In the future, we will investigate whether the method studied can be used for other tires. Also, we will study vehicle dynamics control using the database constructed by using these method.