Technically, per the rules, ALL objects exert a gravitational field and can affect jumping. A ship that encounters a gravitational object drops out of jump at 100D from that object. So no, a ship could not collide or precipitate from jump space inside another ship. Also, per the rules, a ship retains it's velocity as it entered jump space. So a ship that had been accelerating for say a day at 1G would have a velocity of X. If it encountered an asteroid the size of Ceres, it should end it's jump at 100D and emerge from jump space on the same vector/speed as it had when it jumped.
The rules as written have a lot of logical holes in them, such as how would a ship arrive 100D from a planet that is in a the inner part of a system with very dense asteroid fields? One might say that 'dense' in space is a relative term. And a ship could plan it's jump above or below the elliptical plane. This, of course, assumes it's departure system and jump point origin is properly aligned and the departure system is also clear of asteroids, moons, planets and gas giants in the correct path. Again, with space being large a ship could attempt to fly above or below the plane of the elliptic to clear known debris and objects. We needn't go into the problem then of how any ship could intercept another that made the effort to accelerate and place itself in the proper position to make it impossible for a ship not already on the proper vector, speed and location to intercept it.
One could argue that with all the vagaries of jump that this is exactly why it's important to have updated charts and why it takes so long to calculate a jump vector. Or I'm sure lots of people just handwave it away and say "...and you arrive 100D from the planet." When you handwave things away the bigger question becomes what should you ignore and what should you enforce. The point in purchasing a gaming system with a set of rules is so that you are paying someone to write things up that fit together correctly and you need not handwave things. Traveller isn't the only gaming system that has some work in that area. I think so long as everyone is in agreement of where the modifications are (and sometimes the why), it's easily dismissed and the pew-pew adventures can continue.