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The challenging issue of “human-machine copilot” opens up a new frontier to enhancing driving safety. However, driver-machine conflicts and uncertain driver/external disturbances are significant problems in cooperative steering systems, which degrade the system's path-tracking ability and reduce driving safety. This paper proposes a novel stochastic game-based shared control framework to model the steering torque interaction between the driver and the intelligent electric power steering (IEPS) system. A six-order driver-vehicle dynamic system, including driver/external uncertainty, is established for path-tracking. Then, the affine linear-quadratic-based path-tracking problem is proposed to model the maneuvers of the driver and IEPS. Particularly, the feedback Nash and Stackelberg frameworks to the affine-quadratic problem are derived by stochastic dynamic programming. Two cases of copilot lane change …