Abstract: The state of the road surface weather is crucial to road safety, and road icing is one of the main factors causing traffic accidents. To promote the development of road icing recognition and sensing technology, this article reviews the research progress of road icing sensors both domestically and internationally. Firstly, the classification of pavement status was introduced, the hazards of pavement icing to traffic safety were clarified, and the importance of pavement icing identification to traffic safety management was recognized. Then, based on the different ways of pavement icing perception, the pavement icing sensor was divided into contact pavement icing sensor and non-contact pavement icing sensor, and the classification, working principle and characteristics of pavement icing sensor were analyzed and summarized. At the same time, based on the differences of different pavement state recognition technologies and the actual road inspection and monitoring needs, the application scope, recommendation index and improvement suggestions of various pavement icing sensors are given. Finally, the future improvement direction of pavement icing sensor is discussed. It is suggested that the meteorological information system of the road network should be combined with the road icing sensor to realize the timely warning of the road icing state and improve the road traffic safety.