The invention, which belongs to the automatic driving and intelligent traffic field, provides an adaptive coordination control method for intelligent vehicle steering and braking. The method comprises: (1), an identification method of an expected path is designed and an intelligent vehicle steering and braking coupling dynamics model is established; (2), with a backstepping sliding mode control technology, an intelligent vehicle steering and braking coordination control model is designed by using vehicle horizontal path tracking and braking speed control as objectives; (3), an on-line real-time approaching control law, being similar to that in the step (2), of a fuzzy system is designed and thus adaptive adjustment of the approaching control law is realized, so that a buffeting phenomenon caused by a backstepping sliding mode in dynamic steering and brake coordinated control can be avoided; and (4), stability of the dynamic automobile steering and brake coordinated control system is analyzed. Therefore, defects of strong coupling, non linearity, and parameter uncertainty of the automobile steering and brake dynamics can be overcome effectively; the real-time performance and stability of emergency obstacle avoidance can be guaranteed; dependence on the control model can be eliminated; robustness of parameter uncertainty can be enhanced; the overall performance is improved; and the cost is lowered.