The collisions of vessel at sea show high among the whole marine accidents. Especially, the accidents of fishing vessels take the largest portion of the collisions. Therefore, a technique to reduce these accidents should be developed. The automatic control for avoiding collision suggested in this study consists of two steps. The first is recognizing collision risk with fuzzy Theory and the other is maneuvering the model ship on the basis of collision risk calculated from the first step. The information form the position and estimated time of collision point(DCPA and TCPA) is used to assess the collision risk. To verify this system, a fishing vessel was simulated according to MMG mathematical model. The simulations result shows quite good application in avoiding the collision of ship.