The invention discloses a multi-objective hierarchical collaborative control and optimization method for vehicles with driving intentions. The method comprises the following steps: S1, establishing adriver steering intention recognition model; S2, establishing a nonlinear eight-degree-of-freedom vehicle preview prediction model; S3, establishing a predicted load transfer rate PLTR based on the preview driver model; S4, establishing a multi-objective hierarchical coordinated control system for the whole vehicle; S5, performing multi-objective genetic algorithm optimization with vehicle path tracking and rollover stability as the objective function. The method of the invention is simple, easy to implement and has good application prospects.