An essential part in accurate driving dynamics analysis is a geometrical model of driving surface. The paper presents a system that can be mounted to a measuring vehicle and used to obtain geometrical models of road sections together with their friction properties. It describes the sensorics built into the measuring vehicle and the software developed to convert raw measured data into 3D geometrical models of road sections, suitable for use in simulation tools. The example measurement results are presented, discussed and compared to results of simulations performed with different software tools. The measurement system offers possibilities for further development and improvement, which are discussed in the final part of the paper.