The invention discloses a bus driver hand-off-steering-wheel detection warning system and a warning method. The system comprises a camera, a digital signal processor, a GPS (global position system) module, a control module and a GPRS (general packet radio service) module. The method includes the steps of 1), colleting images of a driver operating steering wheel; 2), calculating the images by adopting an operator detection recognition method, distinguishing the state of a driver hand-off steering wheel, and judging out whether a driver is in the state of left-operating hand-off steering wheel, the state of right-operating hand-off steering wheel or the state of both-hand-off steering wheel; 3), judging whether to trigger warning signals or not by adopting a warning logical judgment method; 4), outputting information to an upper computer. By the detection warning system and the warning method, easiness in setting is achieved, the visual system is downsized, a universal foundation technology platform for image processing is provided, any compulsory interference on the body of the driver is omitted, cost is low and the like.