Safe driving assistance system and control method thereof

The invention provides a safe driving assistance system and a control method thereof. The safe driving assistance system includes: an object detecting unit configured to detect a traffic participationobject within a predetermined range around the host vehicle; a collision determining unit configured to determine whether there is a collision between the host vehicle and the traffic participation object, a collision time estimating unit configured to determine a collision time of a collision between the host vehicle and the traffic participation object if the collision determining unit determines that there is a possibility of collision between the host vehicle and the traffic participation object; an attention time estimating unit configured to estimate a first attention time that the driver of the host vehicle can notice the traffic participation object and a second attention time that the controller of the traffic participation object can notice the host vehicle; and a collision warning unit configured to de