The present Invention relates to an adaptive early warning method based on Vehicle-To-Everything (V2X) and a system thereof, wherein through a mobile communication and a short-range wireless communication technology, connection between a vehicle and a target is achieved, the adaptive early warning method for vehicles comprises steps of: establishing a first monitoring list, determining whether there is a key target among the connectable surrounding targets that reaches a collision early warning threshold, and if any, then establishing a second monitoring list to exclusively receive and monitor the vehicle location and the speed information of the key target; calculating an estimated collision time and a communication delay value; determining a warning level according to the communication delay value and the estimated collision time, and providing an early warning. The present invention has the following benefits: 1. the complementary combination of the channel delay and the speed difference greatly improves the security performance of the early warning method. 2. Establishing both one-to-many communication and one-to-one communication respectively according to different situations ensures the effective use of system resources and reduces system loads. 3. The conditions of the vehicles around the vehicle are also monitored.
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