Automated evasive maneuvers require special methods of trajectory planning meeting the required demands. An optimal evasive trajectory requires drive-ability, guarantee of collision freeness, and optimal utilization of the available maneuver room. Meeting these demands, a combination of braking and steering is desirable which also comes with an increase of complexity. Further, from a functional safety stand point and the performance of close-to-production environmental sensor it is desirable to execute the maneuver as late as possible. In this publication we propose a trajectory planning procedure that combines braking and steering. We define an optimization problem that finds the last possible drivable trajectory. The potential of the proposed procedure is verified by a simulation followed by a further analysis and discussion.