diff --git a/src/detector/CollisionDetector.cpp b/src/detector/CollisionDetector.cpp
index def0358..a1b1350 100644
--- a/src/detector/CollisionDetector.cpp
+++ b/src/detector/CollisionDetector.cpp
@@ -3,9 +3,18 @@
 #include "config/SystemConfig.h"
 #include "utils/Logger.h"
 #include <algorithm>
+#include <chrono>
 #include <cmath>
 #include <unordered_set>
 
+namespace {
+// 冲突释放参数：
+// 1) 当前距离达到预警阈值的倍数且不再预测碰撞 -> 立即释放
+// 2) 连续一段时间无风险 -> 强制释放（防止历史记录粘连）
+constexpr double kResolveDistanceMultiplier = 1.5;
+constexpr int64_t kResolveNoRiskTimeoutMs = 5000;
+}
+
 CollisionDetector::CollisionDetector(const AirportBounds& bounds, const ControllableVehicles& controllableVehicles)
     : airportBounds_(bounds),
     vehicleTree_(bounds.getAirportBounds(), 8), // 使用机场总边界初始化四叉树
@@ -61,6 +70,8 @@ void CollisionDetector::updateTraffic(const std::vector<Aircraft>& aircraft,
 
 std::vector<CollisionRisk> CollisionDetector::detectCollisions() {
     std::vector<CollisionRisk> risks;
+    const auto now_ms = std::chrono::duration_cast<std::chrono::milliseconds>(
+        std::chrono::system_clock::now().time_since_epoch()).count();
 
     // 获取配置参数
     const auto& predictionConfig =
@@ -136,6 +147,7 @@ std::vector<CollisionRisk> CollisionDetector::detectCollisions() {
                     record.maxLevel = std::max(record.maxLevel, level);
                     record.collisionPoint =
                         collisionResult.collisionPoint; // 更新冲突点
+                    record.detectedTime = now_ms;
                     Logger::debug("更新冲突记录: obj1=", aircraft.id,
                         ", obj2=", vehicle.id, ", maxLevel=",
                         static_cast<int>(record.maxLevel),
@@ -145,9 +157,7 @@ std::vector<CollisionRisk> CollisionDetector::detectCollisions() {
                     // 创建新的冲突记录
                     record = { collisionResult
                                   .collisionPoint, // 使用当前检测到的冲突点
-                              std::chrono::system_clock::now()
-                                  .time_since_epoch()
-                                  .count(),
+                              now_ms,
                               level, false };
                     Logger::debug("创建新的冲突记录: obj1=", aircraft.id,
                         ", obj2=", vehicle.id,
@@ -178,12 +188,26 @@ std::vector<CollisionRisk> CollisionDetector::detectCollisions() {
                     ", timeToCollision=", collisionResult.timeToCollision, "s",
                     ", level=", static_cast<int>(level));
             } else if (hasUnresolvedConflict) {
-                // 检查是否满足解除条件
-                if (checkCollisionResolved(aircraft, vehicle, it->second,
-                    safeDistance)) {
+                // 专业化释放策略：
+                // A. 距离已明显拉开且当前不再预测碰撞 -> 立即释放
+                // B. 连续无风险超过阈值 -> 强制释放，防止历史 maxLevel 粘连
+                // C. 其余场景沿用原有几何释放条件
+                const bool farEnoughAndNoRisk =
+                    !collisionResult.willCollide &&
+                    collisionResult.distance >= safeDistance * kResolveDistanceMultiplier;
+                const bool noRiskTimeout =
+                    !collisionResult.willCollide &&
+                    (now_ms - it->second.detectedTime) >= kResolveNoRiskTimeoutMs;
+                const bool geometricResolved =
+                    checkCollisionResolved(aircraft, vehicle, it->second, safeDistance);
+
+                if (farEnoughAndNoRisk || noRiskTimeout || geometricResolved) {
                     it->second.resolved = true;
                     Logger::debug("冲突已解除: obj1=", aircraft.id,
-                        ", obj2=", vehicle.id);
+                        ", obj2=", vehicle.id,
+                        ", reason=",
+                        farEnoughAndNoRisk ? "far_enough_no_risk" :
+                        (noRiskTimeout ? "no_risk_timeout" : "geometric_condition"));
                 } else {
                     // 虽然当前没有检测到风险，但由于未满足解除条件，继续保持原有风险等级
                     currentCollisions.insert(collisionKey);
@@ -509,4 +533,4 @@ CollisionResult CollisionDetector::predictCircleBasedCollision(
     result.object2State = CollisionObjectState(p2_hit, speed2, heading2);
 
     return result;
-}
\ No newline at end of file
+}