Abstract: A hazard avoidance strategy based on augmented curvature guidance was presented for complex planetary surface landing. Based on the basic curvature guidance law, a hazard avoidance augmentation term was introduced. The idea of spacecraft landing space division was used and an anti-collision zone was defined in the collision prone zone near the hazards. The continuous analytical hazard avoidance guidance law was derived based on anti-collision zone. While meeting the geometric convex trajectory state constraints, the hazard avoidance guidance law evaluated the relative position relationship between spacecraft and hazards, which can quickly steer the spacecraft away from hazards and increase landing safety. Simulation results reveal that the validity of avoiding terrain hazards on the complex planet surface and achieving pinpoint soft landing is enhanced, with good flexibility and reliability.