Mac Dictionary’s definition:
change or cause to change direction abruptly : [ intrans. ] a car swerved around a corner | [ trans. ] he swerved the truck, narrowly missing a teenager on a skateboard.
an abrupt change of direction : do not make sudden swerves, particularly around parked vehicles.
ORIGIN Old English sweorfan [depart, leave, turn aside,] of Germanic origin; related to Middle Dutch swerven ‘to stray.’
Have you ever swerved to avoid an accident?