Abstract: Basing on the terrain scanning mission,this paper focuses on the problem of mission and task coordination method at the planning layer of AUV(Autonomous Underwater Vehicle) control system.The logical structure of AUV control system is introduced.The DEDS(Discrete Event Dynamic System) model of the mission planning layer and task planning layer are created by hierarchical Petri net.The hierarchical Petri net model of task planning layer is illustrated by extending the task place of going to the objective zone.A coordination method based on the improved RW DEDS supervisory control theory is presented.The coordination and supervisory control at mission and task planning layers are illustrated respectively.Finally,results of lake test are given to validate the mission and task coordination method of the AUV planning layer.