Determination of evasive maneuver action to avoid oncoming road hazard of a vehicle

Herein, a technology that facilitates a determination of evasive maneuver action to avoid oncoming road hazard of a vehicle is discussed. The technology includes obtaining sensor data about a host vehicle and about an oncoming hazard and obtaining evasive maneuvering (EM) constraints. Using the technology, the vehicle may determine if a vehicle-hazard incident may be avoided. If so, then the vehicle can determine the last point of action (LPA) at which the vehicle may take EM action to avoid the vehicle-hazard incident. At that LPA, the vehicle triggers taking the EM action to avoid the vehicle-hazard incident.