Quote: "For example, Is it possible to check the colour of a particular pixel?"
Absolutely. Your question was just about checking if the car is on the track, if that is all you need then checking a pixel colour is probably a really good idea.
You could have a small image that represents the surface of the world, red may be the track, green may be grass, blue could be ice(slippy), etc... You then scale everything(car position) down to correspond with that image and you can check what the surface is at any given time, it would be like a mini-map that the user does not see.