With the advancement of intelligence in the automotive industry, enhancing driving safety andconvenience has become the core demand. This paper designs and implements an intelligent driving assistance systembased on an in-vehicle embedded platform. On the basis of system requirement analysis, a hierarchical heterogeneouscollaborative architecture is constructed. The functions are implemented through hardware selection and configurationas well as software modular development. After integration debugging and multi-dimensional test verification, thesystem can effectively improve the safety performance of assisted driving. It provides a technical reference for theengineering application of embedded technology in the field of intelligent connected vehicles.