Aiming at the problem of cooperative guidance of multi-vehicles with time coordination under sudden threat, an intelligent cooperative guidance method of multi-vehicles which can evade no-fly zone was proposed. First, taking sudden threat as a circular no-fly zone, a no-fly zone avoidance in transverse trajectory planning is considered. Second, reinforcement learning is introduced into transverse trajectory re-planning, and a fast self-decision making method is proposed. Third, by generating a tilt-angle flip decision maker, multi-vehicles intelligent cooperative guidance for sudden threat is realized. The proposed multi-vehicles intelligent cooperative guidance method not only has a high speed of online trajectory re-planning, but can also greatly improve the penetration probability of sudden threats. The simulation results show the feasibility and effectiveness of the proposed method.