The invention relates to an auxiliary driving system and a vehicle. The auxiliary driving system comprises a controller, as well as an internal image acquisition device, an external image acquisitiondevice and an external display device which are respectively connected with the controller. The controller comprises a safe driving module, a vehicle action control module and a vehicle status parameter obtaining module. The safe driving module is used for judging whether a driver is in a safe driving state or not according to the driver image information in the vehicle acquired by the internal image acquisition device. The vehicle action control module is used for controlling the vehicle to perform preset actions according to the user image information outside the vehicle acquired by the external image acquisition device. The vehicle status parameter obtaining module is used for obtaining the vehicle status parameter and sending the vehicle status parameter to the external display device,so that the external display device displays the vehicle status parameter to the user outside the vehicle. According to the invention, the intelligentization degree is improved on the basis of simplifying the system structure, and the user outside the vehicle can know the current state of the vehicle before entering the vehicle.