To find out if the roads are icy or will be icy you can call 511 in most areas and you can get the latest road conditions by the phone.
Or you can go online and search road conditions in your state and then lookup the road you're gonna be driving on and then it should show a map on whether the road has snow, ice, is clear etc.
It will also show you if the road is closed and impassable or partially covered with snow or has Ice.
A lot of states have those websites with those maps on road conditions.
You can also tell if roads will be icy by checking your weather forecast often and if there's ice or freezing rain in the forecast then the roads will likely be icy.
If the roads get icy and then the temperature gets above freezing then the ice may melt.