The road surface condition in winter is important for road maintenance and safety. To estimate the road surface condition in winter, the RWIS(Road Weather Information System) is used. However RWIS is not measured the continuous road surface information but measured the locational road surface information. To overcome the current RWIS limitation, the thermal mapping sensor which can collect the road surface condition employed in some countries. Although the thermal mapping sensor can collect the continuous road surface information, it is difficult to collect vast data due to apply few probe car. This study suggests a specific methodology for the prediction of road surface temperature using vehicular ambient temperature sensors and collect road surface and vehicular ambient temperature data on the defined survey route in 2015 and 2016 year, respectively. To find out the correlation between road surface and ambient temperature which may affect patterns of road surface temperature variation, the various weather and topographical conditions along with the test route were considered. For modelling, all types of collected temperature data should be classified into response and predictor before applying a machine learning tool such as MATLAB. In this study, collected road surface temperature are considered as response while vehicular ambient temperatures defied as predictor. Through data learning using machine learning tool, models were developed and finally compared predicted and actual temperature based on average absolute error. According to comparison results, model enables to estimate actual road surface temperature variation pattern along the roads very well. Model III is slightly better than the rest of models in terms of estimation performance. When correlation between response and predictor is high, when plenty of historical data exists, and when a lot of predictors are available, estimation performance of would be much better.