The invention relates to a man-machine sharing steering control method of an intelligent automobile, aims to improve path tracking performance of the intelligent automobile and the operation comfort of a driver in a time delay communication environment, and belongs to the field of intelligent automobile driving auxiliary systems. The method comprises the following steps: establishing a pedestrian-automobile-road system model; determining a system control target; and solving the gain of the shared steering controller, calculating the required active steering angle, and carrying out the online control of the intelligent automobile. The automobile path tracking precision can be effectively improved, and the operation comfort of the driver can be increased. Particularly, a time delay phenomenon in a control loop is considered in man-machine sharing steering control of the intelligent automobile, and the delay comprises three types of network induction delay, signal transmission delay and actuator delay so that the path tracking performance of the automobile is ensured, and meanwhile, the robustness is relatively high, and the method has superiority in a time delay environment.