Vehicle driving assistance method and device, computer equipment and storage medium

The invention relates to a vehicle driving assistance method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring vehicle state information of a current driving vehicle, and determining an expected driving track of the vehicle according to the vehicle state information; acquiring obstacle information and lane information; according to the obstacle information and the lane information, whether the expected driving track of the vehicle accords with a safe driving route is determined; and under the condition that the expected driving track of the vehicle does not conform to the safe driving route, applying resistance to a steering wheel of the vehicle so as to change the expected driving track of the vehicle, and outputting the safe driving route to a head-up display system so as to project the safe driving route to front glass of the vehicle. By adopting the method, illegal driving behaviors of the driver can be avoided. 本申请涉及一种车辆驾驶辅助方法、装置、计算机设备和存储介质。所述方法包括：获取