The invention provides an obstacle trajectory prediction based auxiliary driving method and system. The method includes obtaining environment data around a vehicle collected by a vehicle sensor; determining the drivable area of a dynamic obstacle around the vehicle based on the environment data; predicting the driving trajectory of the dynamic obstacle by utilizing the historical status information and the drivable area of the dynamic obstacle; and judging the conflicting risk status of the driving trajectory of the dynamic obstacle and the driving trajectory of the vehicle. Thus, early warning can be performed by calculating the risk coefficients of the trajectory of the dynamic obstacle and the trajectory of the vehicle.