According to the cooperative antagonism game problem of multi autonomous underwater vehicles(AUVs), multi AUVs cooperative attack dynamic countermeasures are researched. A multi-combat steps dynamic target assignment optimization model is built based on the game theory for multi-strategy autonomous underwater vehicles cooperative attack. Particle swarm optimization (PSO) algorithm is applied to solve the Nash equilibrium point for obtaining optimal antagonistic tactics. It is confirmed that the feasibility and validity of the proposed model and method.