Main cause of light staying on is allegedly a battery fault or failing battery. ASR is controlled (I believe ) through brake switch which in turn is inputting to other areas e g ABS and I assume that poor battery response can affect all this.
I have a Toyota C-HR which seems to have a lot of these types of safety things, ASR, sign recognition, collision avoidance, lane departure. If something does activate it can take a while (not 100 miles) for the system to decide to reset properly. It won't be battery since the car was bought new (and a hybrid thing has more than enough juice to spare). Probably more that the various sensors are confusing the brain, which can't decipher the road and other environment conditions to get the safety thing back within normal tolerances.
If it was icy, once the system activated, did the rest of your journey stay cold, so there might well have been something it couldn't cope with?