Abstract: In this paper, a human-machine collaborative obstacle avoidance control scheme for manned lunar lander GNC systems was proposed, built upon a framework of human-supervised autonomy. By constructing an obstacle avoidance safety point auxiliary selection algorithm, developing a hand-controlled semi-automatic obstacle avoidance control module, designing a human-controlled one-click emergency ascent scheme, and optimizing the human-computer interaction interface, astronauts’ autonomous decision-making support during the lunar landing process was realized. The results show that the system can effectively improve the reliability and safety of the lunar landing process and meet the needs of manned lunar exploration missions. This scheme provides a highly reliable and safe GNC system solution for manned lunar landing and descent missions, and has important engineering application value.