A system for estimating a take-over time for an Operational Design Domain, ODD, exit event for an autonomous vehicle, the take-over time being indicative of a time needed to delegate a driving task from a first automated driving system, ADS, feature of the vehicle to a driver of the vehicle or a second ADS feature of the vehicle, the system comprising: an Action Time Network, ATN, configured to output an action time indicative of a time needed to handle the ODD exit event by performing one or more vehicle manoeuvres; a Recovery Time Network, RTN, configured to output a recovery time indicative of a time needed for the driver to reach an attentiveness level above an attentiveness threshold based on a current status of the driver; control circuitry configured to: obtain a set of driver status parameters from a driver monitoring system, DMS, of the vehicle, the set of driver status parameters being indicative of a current attentiveness level of a driver of the vehicle; upon obtaining a signal indicative of an impending ODD exit event: estimate, by means of the ATN, an action time (t AT) for the impending ODD exit event; estimate, by means of the RTN, a recovery time (t ERT) for the impending ODD exit event based on the obtained set of driver status parameters; generate, at an output, a hand-over request signal at a first point in time (t 0); determine a second point in time (t DIL) when the driver reaches an attentiveness level above the attentiveness threshold in order to obtain an actual time needed for recovery (t ART); compare the actual time needed for recovery (t ART) with the estimated recovery time (t ERT) against a recovery time threshold; if the comparison indicates a deviation above the recovery time threshold: transmit RTN data to a remote entity for globally updating the RTN based on the transmitted RTN data; wherein the control circuitry is further configured to obtain an updated RTN from the remote entity. an Action Time Network, ATN, configured to output an action time indicative of a time needed to handle the ODD exit event by performing one or more vehicle manoeuvres; a Recovery Time Network, RTN, configured to output a recovery time indicative of a time needed for the driver to reach an attentiveness level above an attentiveness threshold based on a current status of the driver; control circuitry configured to: obtain a set of driver status parameters from a driver monitoring system, DMS, of the vehicle, the set of driver status parameters being indicative of a current attentiveness level of a driver of the vehicle; upon obtaining a signal indicative of an impending ODD exit event: estimate, by means of the ATN, an action time (t AT) for the impending ODD exit event; estimate, by means of the RTN, a recovery time (t ERT) for the impending ODD exit event based on the obtained set of driver status parameters; generate, at an output, a hand-over request signal at a first point in time (t 0); determine a second point in time (t DIL) when the driver reaches an attentiveness level above the attentiveness threshold in order to obtain an actual time needed for recovery (t ART); compare the actual time needed for recovery (t ART) with the estimated recovery time (t ERT) against a recovery time threshold; if the comparison indicates a deviation above the recovery time threshold: transmit RTN data to a remote entity for globally updating the RTN based on the transmitted RTN data; wherein the control circuitry is further configured to obtain an updated RTN from the remote entity. obtain a set of driver status parameters from a driver monitoring system, DMS, of the vehicle, the set of driver status parameters being indicative of a current attentiveness level of a driver of the vehicle; upon obtaining a signal indicative of an impending ODD exit event: estimate, by means of the ATN, an action time (t AT) for the impending ODD exit event; estimate, by means of the RTN, a recovery time (t ERT) for the impending ODD exit event based on the obtained set of driver status parameters; estimate, by means of the ATN, an action time (t AT) for the impending ODD exit event; estimate, by means of the RTN, a recovery time (t ERT) for the impending ODD exit event based on the obtained set of driver status parameters; generate, at an output, a hand-over request signal at a first point in time (t 0); determine a second point in time (t DIL) when the driver reaches an attentiveness level above the attentiveness threshold in order to obtain an actual time needed for recovery (t ART); compare the actual time needed for recovery (t ART) with the estimated recovery time (t ERT) against a recovery time threshold; if the comparison indicates a deviation above the recovery time threshold: transmit RTN data to a remote entity for globally updating the RTN based on the transmitted RTN data; wherein the control circuitry is further configured to obtain an updated RTN from the remote entity.