The dynamic change of velocity and acceleration of obstacle vehicle under the actual dynamic traffic environmental can cause the unsmooth change of the real-time reference trajectory of lateral obstacle for intelligent vehicle. To overcome the poor control effect of the controller caused by the unsmooth trajectory, parameter perturbation and signal disturb, the robust control strategy for dynamic lateral obstacle avoidance of intelligent vehicles considering parameter perturbation was presented. The strategy includes dynamic trajectory planning and dynamic trajectory tracking. In the dynamic trajectory planning, according to dynamic change of acceleration and velocity of obstacle vehicle, the dynamic trajectory planning algorithm based on obstacle avoidance limit position was proposed to plan real-time reference trajectory which can ensure lateral safety of obstacle avoidance for intelligent vehicles. In the dynamic trajectory tracking, with consideration of the perturbation of mass, moment of inertia and front and rear lateral stiffness parameters, a robust controller considering parameter perturbation was designed to accurately track real-time reference trajectory of lateral obstacle avoidance. Finally, the proposed dynamic lateral obstacle avoidance control strategy was validated by combining Matlab/Simulink with Trucksim. The simulation results indicate that according to the real-time change of acceleration and speed of obstacle vehicle, the real-time safety reference trajectory of lateral obstacle avoidance can be achieved in the dynamic trajectory planning. The real-time reference trajectory of lateral obstacle avoidance can be smoothly,stably and well tracked in the dynamic trajectory tracking. Therefore, the proposed control strategy realizes the dynamic lateral obstacle avoidance of intelligent vehicles while ensuring the vehicle yaw stability during the whole process of obstacle avoidance.