Abstract: In order to clarify the ship shore and ship ship cooperative relationship under the state of ship autonomous navigation, this paper combs and puts forward 23 activities, behaviors and related parties of ship autonomous navigation, analyzes various driving modes of ship autonomous navigation and their transformation and development trend combined with examples, and briefly introduces the purpose, timing, content, manner of information interaction with other ships and shore base under the mode of autonomous navigation. The transformation of mode and ship shore coordination relationship provides technical and theoretical support for improving the interaction efficiency of intelligent navigation information, understanding the ship shore coordination relationship of autonomous navigation and building an system of autonomous navigation and control based on ship shore coordination.