A safe passing system for a vehicle, comprising: a road ambient environment sensing system, configured to obtain sensing information of a road ambient environment in real time, process the sensing information to obtain vehicle driving assistance information, and send the vehicle driving assistance information to a vehicle-mounted terminal; and the vehicle-mounted terminal, configured to receive the vehicle driving assistance information, and plan a driving route according to the vehicle driving assistance information and vehicle-acquired information; wherein the road ambient environment sensing system comprises: a scanning and sensing module, configured to scan the road ambient environment by using one or more types of scanning devices, and send the sensing information obtained through scanning to a data processing module; the data processing module, configured to process the sensing information to obtain the vehicle driving assistance information, and send the vehicle driving assistance information to a roadside Vehicle-to-Everything, V2X, module; and the roadside V2X module, configured to send the vehicle driving assistance information in a multicast communication mode to the vehicle-mounted terminal on a vehicle that is passing and/or is going to run through the current road; wherein the data processing module comprises a data fusion module, the data fusion module is configured to perform different levels of related processing on the sensing information obtained through scanning using multiple scanning devices or multiple types of scanning devices. a road ambient environment sensing system, configured to obtain sensing information of a road ambient environment in real time, process the sensing information to obtain vehicle driving assistance information, and send the vehicle driving assistance information to a vehicle-mounted terminal; and the vehicle-mounted terminal, configured to receive the vehicle driving assistance information, and plan a driving route according to the vehicle driving assistance information and vehicle-acquired information; wherein the road ambient environment sensing system comprises: a scanning and sensing module, configured to scan the road ambient environment by using one or more types of scanning devices, and send the sensing information obtained through scanning to a data processing module; the data processing module, configured to process the sensing information to obtain the vehicle driving assistance information, and send the vehicle driving assistance information to a roadside Vehicle-to-Everything, V2X, module; and the roadside V2X module, configured to send the vehicle driving assistance information in a multicast communication mode to the vehicle-mounted terminal on a vehicle that is passing and/or is going to run through the current road; wherein the data processing module comprises a data fusion module, the data fusion module is configured to perform different levels of related processing on the sensing information obtained through scanning using multiple scanning devices or multiple types of scanning devices. a scanning and sensing module, configured to scan the road ambient environment by using one or more types of scanning devices, and send the sensing information obtained through scanning to a data processing module; the data processing module, configured to process the sensing information to obtain the vehicle driving assistance information, and send the vehicle driving assistance information to a roadside Vehicle-to-Everything, V2X, module; and the roadside V2X module, configured to send the vehicle driving assistance information in a multicast communication mode to the vehicle-mounted terminal on a vehicle that is passing and/or is going to run through the current road; wherein the data processing module comprises a data fusion module, the data fusion module is configured to perform different levels of related processing on the sensing information obtained through scanning using multiple scanning devices or multiple types of scanning devices.