Abstract: This paper proposes a human-machine collaborative obstacle avoidance control scheme for the manned lunar lander GNC system with "automatic control, manned control as the auxiliary, and human-machine combined". 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, the astronauts' autonomous decision-making support during the lunar landing process is 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.