Human driver exhibited excellent adaptive capability when perform steering. However, it is difficult to analyze this adaptive ability with traditional dynamics system, since the steering course concerns a complex course of driver-vehicle interaction. The investigating of driver-vehicle closed-loop stability was conducted. It can be found that drivers can utilize the linear dynamics characteristic to acquire the skill of controlling the driving direction. Besides, this skill can combine with physical limitations to form an internal reference model, which can be employed by drivers to adapt to the variable dynamics conditions. Based on above results, a adaptive steering control method was proposed. The lane change simulation experimental result indicated that the proposed method not only can realize the drivers’ steering task effectively, but also present good adaptability under the altered dynamics conditions.