Road intersections are shared among several conflicted traffic flows. Stop signs have been used to safely control the competing traffic flows at road intersections. Then, driving rules are constructed to control the competing traffic flows at these stop sign road intersections. Vehicles have to apply a complete stop with no motion in front of stop signs. First to arrive, first to go, straight before turns, and right then left are the main driving rules at stop sign intersections. Drivers have to be aware of the stop sign’s existence, the architecture of the signalized road intersection, and traffic distribution in the competing traffic flows. This is in order to take the best decision to pass the intersection or to wait for other conflicted flows to pass according to the current situation. Due to bad weather conditions, obstacles, or heavy existing vehicles, drivers may miss capturing the stop sign. Moreover, the architecture of the road intersection and the characteristics of the competing traffic flows are not always clear to the drivers. In this work, we aim to keep the driver ahead of time aware of the existing stop signs, the architecture of the road intersection, and the traffic characteristics of the competing traffic flow at the targeted destination. Besides, the best speed and driving behaviors are recommended to each driver. This is based on his/her position and the distribution of the existing traffic there. From the experimental results, we can see that the proposed driving assistant protocol has succeeded to enhance the safety conditions around road intersections controlled by stop signs. This is by reducing the percentage of accident occurrences. Fortunately, the traffic efficiency of these road intersections has also been enhanced.