This paper presents an Advanced Driver Assistance System called SesToCross, which helps those vehicle drivers who want to cross an intersection nonsignalized. SesToCross is based on a semantic expert system devoted to the intelligent management of crossroads without requiring any centralized reasoning process. SesToCross gives intelligence to each vehicle involved in the crossroad applying an ontology (CrossRoad) implemented at every single vehicle, providing a common semantic over a global and distributed architecture. SesToCross recommends, in real time, to the drivers the best choice to cross safely the intersection in an intuitive, simple, and informative, but not distractive, way. SesToCross is described, developed, and validated on real circumstances and scenarios.