无人机的安全性能特别是防相撞能力是影响无人机发展的一个重要因素,无人机感知避让技术是防止无人机发生相撞事故的重要保证。为了解和发展无人机感知避让技术,从无人机空中态势感知、飞行冲突预测和飞行冲突解脱3个方面对当前感知避让技术的研究现状进行了总结介绍,探讨了无人机防相撞工作的发展趋势。 UAV safety features, especially anti-collision capability is an important factor affecting the development of UAV. UAV perception avoidance technology is an important guarantee to prevent UAV collision. In order to understand and develop the technology of unmanned aerial vehicles’ perception and avoidance, this paper summarizes the research status of the current awareness-avoidance techniques from three aspects: airborne situational awareness, flight conflict prediction and flight conflict relief. The development trend of work.