To provide theoretical reference for the research and development of advanced driving assistance system (ADAS) and unmanned driving technology, the statistics of foot manipulating behaviors of urban road drivers in China under natural driving conditions were obtained and modeling analysis was carried out. Based on the data, the dynamic EEG change rate (EEGδ), heart rate change rate (Hδ), and EMG change rate (EMGδ) were used to reflect the transient and cumulative characteristics of driver’s physiological states. The relations between the driver’s accelerator pedal force and brake pedal force with main physiological indexes were fitted, which is the driver’s foot manipulation behavior model. The model verifies the correlation between accelerator pedal force, brake pedal force, and main physiological indexes during driver’s foot manipulation. The rules of pedal trampling frequency in natural driving conditions were statistically analyzed. Results show that urban road drivers preferred to control speed through braking force. The accelerator pedal force and brake pedal force were positively correlated with indexes EEGδ, Hδ, and EMGδ. The pedal trampling frequency had obvious relations with different driving years, genders, and ages. The model can be applied for the development of driving assistance system, simulation of driver’s manipulating behaviors, and research of automatic driving technology based on driver control behaviors, as well as the design of intelligent vehicle technology on the basis of driver’s manipulating rules.