Wheel Slip-based Road Surface Slipperiness Detection

Table 2: Sample size by driving condition.

Group	Condition	Description	Sample size
Group	Condition	Description	Training set	Testing set
1	Acc. ≥ 0	Acceleration without TCS activation	1800	774
2	Acc. < 0 and slip ≥ 0	TCS activated while accelerating	182	80
3	Acc. < 0 and slip < 0	Deceleration	900	386

Note: TCS = traction control system.