<p>When the Mars vehicles encounter a storm or other failure situations, the ability to abort and rise to a predetermined orbit in the powered descent flight phase is critical. Unlike the abort guidance mission of lunar exploration, Mars has an atmosphere and stronger gravity, leading to high requirements on the efficiency, autonomy, reliability, and robustness of the guidance system. To this end, this paper proposes a safety abort guidance algorithm to stop the descent of the Mars vehicle with fast responses in the initial stage of abort. Then, to meet the requirements of rendezvous and docking with the orbiter, the constraints of terminal orbit parameters and orbit insertion time and position in the perifocal coordinate system are explicitly defined. To achieve a higher terminal orbit, a “powered-coast-powered” trajectory onboard optimization problem is established, which allows the trajectory optimization problem to be handled by convex optimization rapidly and accurately. Moreover, a switching strategy between the online trajectory optimization and terminal iterative guidance is detailed to ensure the accuracy of terminal orbit insertion. Finally, numerical experiments with Monte Carlo tests under various conditions are conducted to verify the efficiency, robustness, and onboard application performance of the proposed method.</p>