Vehicle driving assistance method, device and equipment and storage medium

The invention relates to a vehicle driving assistance method, device and equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the steps that the vehicle driving assistance device establishes an SL coordinate system according to current driving road information of a vehicle; and determining the position information of the target obstacle group under the condition of detecting that the target obstacle exists on the current road. Furthermore, the vehicle driving assistance device determines the projection of the vehicle in the SL coordinate system according to the position information of the vehicle, determines the projection of the target obstacle group in the SL coordinate system according to the position information of the target obstacle group, and further determines the position of the vehicle according to the projection of the vehicle in the SL coordinate system. And obstacle avoidance indication information is generated according to the projection of the