To address the slow dynamic response, large overshoot and long stability time of yaw rate of a steer-by-wire vehicle in an emergency steering by the ideal steering ratio control, this paper proposed a yaw rate feedback control method on the basis of driver steering intention recognition. The proposed method focuses on normal steering and emergency steering. The vehicle was controlled according to the ideal steering ratio control in normal steering. And it was controlled according to the yaw rate feedback control superimposed on ideal steering ratio control in emergency steering. The method adopts driver steering intention recognition to determine in superimposing yaw rate feedback control. The driver steering intention recognition was modeled and implemented by using multi-dimensional Gauss Hidden Markov Model, offline parameter training and online recognition. The results have indicated that the driver steering intention recognition model has good precision and the method can effectively improve the transient steering response of the steer-by-wire vehicle.