The invention relates to a man-machine sharing control method for an autonomous remote control underwater robot. The man-machine sharing control method comprises a behavior management unit, a basic behavior unit and a behavior integration unit. The behavior management unit manages basic behaviors through cooperation of the operator module and the autonomous management module to achieve switching of robot operation modes. The basic behavior unit calculates a speed vector output by each basic behavior of the robot according to information input by the sensing system and an operator. The behaviorcomprehensive unit is used for mixing the output of each basic behavior to obtain a control command to act on the robot execution system so as to realize man-machine sharing control of the autonomousremote control underwater robot. According to the method, the task performance of the autonomous remote control underwater robot is improved, and the workload of operators is reduced.