Manned lunar exploration has once again become a hot pursuit among the international aerospace powers in the 21st century. The safety requirements for exploration missions are higher, and the missions are more complex and challenging. As a result, it has become a consensus to fully leverage and comprehensively utilize the respective advantages of humans and machines to carry out human-machine joint exploration. This paper reviews the current application status of automation and intelligence technologies in the field of lunar exploration. On this basis, the characteristics of future lunar human-machine joint exploration missions are analyzed. Four typical mission categories suitable for human-machine joint exploration are proposed, as well as five influencing factors that affect the effectiveness of human-machine cooperation. This paper also provides an in-depth analysis of the human factor risks and challenges in future human-machine joint exploration and proposes some suggestions for addressing human factor issues in future human-machine joint exploration on lunar surface from the perspectives of research program, ground facility construction, and relevant standard and system development.