The invention discloses a road condition recognition method of a lower limb recovery assistive device. The road condition recognition method comprises the steps that the heel of the foot tissue is provided with a heel sensor module, the tiptoe of the foot tissue is provided with a tiptoe sensor module, the shank tissue is provided with a gyroscope module, information of all the sensors is processed by means of a control module, and different road conditions in a movement process of the lower limbs of the human body are effectively recognized through comprehensive analysis according to the information extracted by the sensors. According to the different road conditions, a driving module is used for controlling the lower limb recovery assistive device to do corresponding actions, so that the lower limb recovery assistive device and a wearer fall into step really, and the wearer easily completes stair climbing, slope climbing, obstacle crossing and other daily activities.