A planning approach of lateral weaving maneuver trajectory is proposed to improve the penetrability of a hypersonic glide vehicle with relatively high lift-drag ratio. Dynamic inversion is employed to establish the relationship model between the lateral weaving maneuver trajectory and the bank angle. Then, flight constraints including dynamic pressure, overload, and heating rate are converted to angle of attack constraints on the equilibrium glide assumption, so that the angle of attack vs velocity flight corridor can be specified. Based on the flight corridor and equilibrium glide assumption, the angle of attack is determined which can realize lateral weaving maneuver and satisfy all the flight constraints. The required lateral maneuver trajectory on the equilibrium glide assumption is specified according to the designed angles of attack and bank. This trajectory planning approach is tested using the HTV (Hypersonic Technology Vehicle) model.Simulations demonstrate that the approach is applicable of maneuver trajectory planning for specified weaving-amplitudes and weaving-frequency.