Abstract: The urgent threat collision condition is hazardous for UAV, it is difficult for traditional methods to ensure safety due to the poor performance in real-time and applicability. Conformed to operant conditioning theory, the urgent collision avoidance behavior of UAV could be regarded as irritability in the outside stimulatory, and then the improved Skinner theory based on threat level was proposed. A step command was used as control signal, which was similar with pilot's maneuver in the urgent threat collision condition, and performances estimation algorithm was applied to output optimized strategy. On-line training was conducted based on Skinner theory and statistics to map the threat condition and maneuver, then all the elements of operant conditioning model were completed. The result shows that, the proposed method can handle urgent threat collision well.