The invention relates to a collision avoidance decision-making method based on a water surface unmanned ship. The collision avoidance decision-making method comprises the following steps: detecting and collecting each target in real time by using a
sensing system of the water surface unmanned ship; analyzing the meeting situation, and judging whether a
collision risk exists or not; calculating feasible collision avoidance measures for each target with the collision danger; fusing the similar collision avoidance measures, and obtaining the optimal solution of the various collision avoidance measures; establishing a collision avoidance decision
risk assessment model, and calculating the risk values of the optimal solutions of various collision avoidance measures; and selecting an optimal collision avoidance scheme according to the calculated risk value, outputting the optimal collision avoidance scheme to an execution
system, and updating in real time until the collision avoidance process is completed. The collision avoidance decision-making method is reasonable in design, and can carry out risk coefficient resolving and comparison on various feasible collision avoidance action schemes in real time, so as to obtain a collision avoidance
decision scheme with the
minimum risk coefficient and provide the collision avoidance
decision scheme for the water surface unmanned ship, so that the rapid and safe
obstacle avoidance function of the unmanned ship is achieved, and
navigation safety of the unmanned ship is guaranteed, and the collision avoidance decision-making method is simple and easy to achieve.