The driving model switched between an intelligent vehicle and a human driver is a hot discussing issue for intelligent driving system, and it relates to the safety of the intelligent vehicle and traffic efficiency of transportation system. It presents a hazard-evaluation-based driver-automation switched shared steering control approach for intelligent vehicles in this manuscript. The switched operation between human driver and autopilot system is carried out when the hazard situation is tested by the autopilot controller. The driver's operation and the deviation from the road center line are employed to carry out the hazard evaluation. The autopilot controller is designed using the constrained model predictive control (MPC) approach to keep the intelligent vehicle run in the safe area that is between the road boundary. In order to verify the control performance of the proposed algorithm, simulation verification under hazard situation of the proposed approach are carried out and compared with the non-switching method. The results show that the intelligent vehicle can keep safe in the hazard situation.