The invention relates to a personalized takeover early warning method and 
system based on dynamic 
time budget, and the method comprises the steps: enabling the individual 
feature data of a driver to be fused into the early warning of takeover control, and synthesizing the real-time comprehensive environment state of a vehicle and the real-time takeover reliability of the driver; according to the association relationship between the driver state 
recovery time and the takeover reliability, the driver 
perception environment complexity time and the vehicle real-time comprehensive environment state, the 
operation time of the driver responding to the 
vehicle driving takeover request and the driver characteristic attribute, the takeover 
time budget and 
instability boundary related information, and the driver state 
recovery time, the 
vehicle driving takeover request is obtained; and sensing a preset relationship between the environment complexity time and the 
operation time of the driver by the driver in response to the 
vehicle driving takeover request, and generating a dynamic takeover 
time budget and an early warning prompt, so that the early warning prompt meets the personalized takeover early warning requirement of the 
current driver state, and an effective early warning prompt is sent out. A more suitable take-over 
time condition is created, and a better early warning effect is obtained.