Road recognition method and device

An embodiment of the invention discloses a road recognition method and a road recognition device. According to the road recognition method and the road recognition device, a driving trajectory of a vehicle is obtained through acquiring a reference image in front of the motion of the vehicle and based on a virtual control command input by a user; the driving trajectory is superposed onto the reference image, and a plurality of pixel points reflecting road features are selected from the reference image according to the driving trajectory, each pixel point is regarded as a road sample, a road sample set containing a plurality of the road samples is obtained, and a road recognition model is obtained by utilizing all the road samples in the road sample set, so that the vehicle driving on a road can recognize the road region and proceeds along the road according to the road recognition model.