The invention provides a traffic environment modeling method which comprises the following steps: calculating the collision probability of a vehicle and an object according to the position of the vehicle, the position of the object and a distribution factor; calculating the risk level of the object according to the type, size and speed of the object; calculating a driving environment risk field according to the collision probability of the vehicle and the object and the risk level of the object; and according to the driving environment risk field, modeling is carried out to generate a risk distribution map in the traffic environment. Therefore, the complex traffic environment is normalized, different traffic environments are quantized in a unified manner, and the motion states of the traffic elements are added into environment modeling, so that potential risks are reflected.