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In emergency circumstances, it is essential for autonomous vehicles to balance stability and dynamic performance to attain a faster travel speed while preserving stability. It is not unusual to find traffic accidents caused by suddenly present intruders on the road. In this situation, if there is not enough distance for the vehicle to brake immediately, the vehicle needs to operate with a relatively big steering angle and cornering speed to avoid collision while maintaining driving stability. This can be a challenging scenario even for a human driver, let alone autonomous driving. Especially, this poses a burden on trajectory optimization. In this case, neither over-conservative nor unachievable trajectory and speed profiles are eligible. Technically, the difficulty lies in an accurate maximum cornering speed estimation due to the impact of nonlinear tire force responses in these scenarios with large steering angles and high cornering speed.