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Human steering intervention is an important factor for the safety and control performance of autonomous vehicles. Accurate identification of human steering torque will enable human drivers to take over the controls from the autonomous driving system whenever they require or intend to. However, in the take-over process, both the human driver and actuator motor will apply active torques simultaneously on the steering wheel, thus the human torque cannot be detected by using a torque sensor due to the coupled torques. Therefore, effective estimation though the system dynamics can be an alternative measure to achieve the detection and a comparatively accurate quantification of the human steering intervention torque. In this paper, an online estimation strategy of human steering intervention torque for the steering actuation system of an autonomous vehicle is presented. The dynamic model of the steering actuation system is firstly established.