1. A method to predict driving danger, comprising: a. capturing vehicle dynamic parameter, driver physiological data and driver behavior feature; b. applying a learning algorithm including a statistical model having a continuous danger level function to the features, said training algorithm being learned; and c, predicting driving danger with the statistical model in real time including a driving danger level DL*(x n ) at time instance n with a continuous danger level function DL n =DL(x n ,Θ) with parameters Θ where Θ * = arg ⁢ ⁢ min Θ ⁢ ∑ i = 1 N ⁢ ∑ n = 1 T n ⁢ ( DL ⁡ ( x n i , Θ ) - DL * ⁡ ( x n i ) ) .