The potential risk of control loss collision and hijacking of unmanned aerial vehicle (UAV) has become higher and higher because of the own technical limitation of UAV and environmental complexity all round.Starting from the requirement of increasing the safety of UAV system in combat the autonomous safety control techniques were studied.The safety intension and current study situation safety control are presented the association between guidance and human cognition is discussed.A safety control means based on the cognition-guidance is proposed and the collision aviodance control policy is established.Simulation was made to the proposed method taking collision aviodance of two UAVs as an example.