The present invention relates to the field of traffic safety, in particular to a judgment and prediction method of driving behavior intention based on the implicit Markov model (HMM), aiming to overcome the defect that the existing driving behavior intention recognition and prediction technology does not take into account the dynamics and continuity of driving behavior, as well as complex behaviors such as lane changing, car following and braking and the like. The judgment and prediction method of driving behavior intention obtains time series segmentation data from cluster analysis of dynamic driving data, the linear direction HMM, lateral HMM and speed classification model are trained respectively, and the obtained identification results are regarded as the observation sequence of behavior recognition layer; Then, off-line training is performed to deal with normal or emergency braking, normal or emergency lane change, normal or dangerous driving behavior, and multi dimensional discrete HMM model; according to the model parameters and the observation sequence, the next time step driving behavior can be predicted. The judgment and prediction method of driving behavior intention takes the complexity and continuity of driving behavior into account and can dynamically judge and predict the driving behavior intention and warn the dangerous behavior, and accordingly can be applied to driving behavior evaluation and driving assistance system.