Abstract: Based on the cognitive characteristics of drivers in L2-L3 level intelligent vehicles under the condition of human-vehicle co-driving, a stress steering model for drivers was established under the emergency conditions of human-vehicle co-driving intelligent vehicles. The steering characteristics of drivers in the overstressed state were reflected by the model. The degree of driver stress was characterized by the fitting relationship between steering wheel angle amplitude and steering frequency in the stress steering curve. Considering the body roll under high speed and large turning angles, a nonlinear tire model was introduced to establish three-degree-of-freedom nonlinear vehicle dynamics model. The driver stress steering model was verified by tracking the simulation of lateral acceleration. The results indicate that drivers in the state of excessive stress can cause excessive front wheel turning of vehicle. The model output results are well consistent with the actual vehicle test results, and the model can describe the driver stress steering characteristics.