With the increasing maneuverability and penetration capability of targets, maritime defense missions are gradually extending toward medium- and long-range interception. To address the problems of insufficient midcourse safety, weak dynamic adaptability, and limited terminal accuracy of autonomous surface vehicles in complex environments, this paper proposes a multi-stage interception trajectory planning method for medium- and long-range maneuvering targets. The proposed method divides the trajectory generation process into a waypoint-passing phase and a receding horizon interception phase. In the waypoint-passing phase, a double-level trajectory smoothing mechanism is introduced to ensure trajectory smoothness and smooth control transition. In the terminal phase, a receding horizon control framework with a Warm-Start strategy is adopted to improve optimization efficiency and real-time interception performance. Simulation results show that, the proposed method delivers better overall performance in interception time and energy consumption, with strong dynamic response and adaptability to maneuvering targets. It verifies the efficacy of multi-phase pseudospectral waypoint planning and warm-start rolling optimization, showing promising application potential for medium- and long-range interception.