Once saw a presentation at Institute of Mech Engineer from a senior Audi Engineer about ESP. Where it really helps is when one wheel has different traction to others and compensates for most drivers tendency to overcorrect when traction is low only to find grip returns all too quickly giving the...
I think there is some sense in this comment about how the warning is intended. And that is to warn you of the risk of ice when between 0 and 5 and the -5 is just the tolerance/software programming. At -5 or below the road/weather conditions should make you aware of the risk.
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