An objective of the present application is to provide a road characterization method, comprising: acquiring a target road, wherein the target road comprises one or more road segments; determining one or more atomic lanes corresponding to the road segments according to the road segment attribute information of the road segments; and determining lane association information related to the atomic lanes corresponding to the target road; wherein the one or more atomic lanes and the lane association information are used for characterizing the target road. The method can functionally completely describe objective connections of lanes within a target area, including lane connectivity and lane change feasibility.