Abstract: The state-of-the-art Mars atmospheric entry predictive guidance method focuses on dealing with the longitudinal motion, while the lateral motion is always regulated by the error threshold with bank angle reversal. Such lateral logic strictly limits the lateral motion. In view of this problem, a lateral predictive guidance method for Mars atmospheric entry is put forward, in which the guidance command is generated on board according to the constraints of lateral motion without planning the error threshold. Such a method can avoid the problem of reversing frequently in the method of planning relevant threshold. Numerical simulation illustrates that the lateral predictive guidance method can satisfy the position accuracy of parachute deployment. At the same time, it can also achieve the design flexibility of entry trajectory lateral motion.