Taking over the control authority of intelligent navigation systems in emergency is considered as an essential means to ensure the security of Maritime Autonomous Surface Ships (MASS). However, diverse information and modalities will influence the takeover behavior with different extents. In order to reveal the critical influence factors of takeover performance in Maritime Autonomous Surface Ships, it investigates distinctive characteristics and interaction effects in a simulated manoeuvring experiment involving 10 experienced participants, and the objective indicators such as takeover time, lane-change time, maximum resultant acceleration and distance to closest point of approach (DCPA) were evaluated. Research results indicate that voice warning and visual guiding assistance have shown obvious advantages in helping driver understand current navigation state and manoeuvring intention of the autonomy. Haptic interaction will bring psychological panic for human operators in overtaking scenario, which results in takeover performance decreases and perform excellent active safety in crossing and merging sceanrios, providing theoretical basis and references for more reliable and comfortable TOR design, it could effectively improve driver’s trustiness and subjective experience of Intelligent Navigation System (INS).