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Traffic safety is a key aspect in new-generation intelligent transportation systems. Among other areas, an active field of research is cooperative collision avoidance, where vehicles cooperatively calculate trajectories under tight time constraints to avoid colliding under specific road-traffic domains (overtaking, intersections, etc.). In this paper, we particularly analyze the problem of collision avoidance in scenarios in which high-speed vehicles need to generate evasive maneuvers within very short time intervals to avoid or at least mitigate a hypothetical (multiple) collision. We pose this as a multiobjective optimization problem and simplify it by considering only lateral motion for the optimization process, thus having to solve a 1-D trajectory generation problem. The routes of vehicles are optimized according to a weighted aggregation functional that: 1) maximizes the lateral distances between vehicle-vehicle and vehicle …