Aiming at the problem of UAVs real-time mission planning under unknown threats,the mission re-planning is divided into two modes of human-machine cooperative planning and autonomous planning, and a logical selection architecture for UAVs mission re-planning is designed based on human-machine collaborative cognition.The architecture combines the autonomous planning ability of the UAV with the observation, judgment, decision-making and planning abilities of human beings to enable the UAV be adaptable to the complex and changeable battlefield environment.The fuzzy comprehensive evaluation method is used to evaluate autonomous ability of the UAV from four perspectives of human-machine interaction, UAV, environment and mission,and then the mission re-planning method is selected according to the autonomous ability of the UAV system.The result shows that the fuzzy comprehensive evaluation of autonomous ability is reliable and objective.