The UAVs need to avoid the dynamic threat effectively while encountering it in the flight airspace.For solving problem of the cooperated UAVs' autonomous avoidance of dynamic threats,a cooperative parameter is introduced into collision avoidance strategy,and the optimization theory is used for computing the optimum collision avoidance strategy.Therefore,it can realize effective avoidance to multiple types of dynamic threats.Simulation result demonstrates that the method can implement the cooperated UAVs' real-time evading from dynamic threats.