A 20-year-old Waldorf, Md., man pleaded guilty in Charles County Circuit Court yesterday to vehicular manslaughter in a drunk-driving accident Aug. 21 in which Vicki Ann Daniels, also of Waldorf, was killed.

According to State's Attorney Stephen Braun, defendant Robin Kirk's car crossed the center line of Rte. 228 about three miles west of Waldorf, sideswiped one car and collided head-on with the car Daniels was driving.

Braun said Daniels, a student at St. Mary's College, tried to avoid the oncoming car, and had swerved almost completely off the road when the accident occurred. Daniels, who turned 20 the day she was killed, was driving home from the Atlantis Club, a nightclub, in Accokeek when the accident occurred. An autopsy showed no alcohol in her blood.

Braun said Kirk, who could receive up to five years in prison and a $1,000 fine when sentenced next month, had been drinking at the same club the night of the accident and had a blood alcohol level of.15. In Maryland, a driver with a blood alcohol content of more than.10 is considered legally drunk.

Yesterday, Maryland state police put Daniel's wrecked 1980 Datsun on display at La Plata High School, and will take it to other Charles County high schools later this week as part of a campaign showing students the consequences of drunk driving.