Crossroad collision-free management method for interconnected vehicles in mixed traffic environment

The invention discloses a crossroad collision-free management method for interconnected vehicles in a mixed traffic environment. The method comprises the steps of 1, proposing an assumption for different types of interconnected vehicles (including manual driving vehicles and automatic driving vehicles) at a crossroad, and defining the region and path of the crossroad; 2, designing a message type, a message format and an interaction process of interconnected vehicle communication; 3, performing same-lane safety guarantee management according to the driving information of the vehicle and the front and back vehicles on the same lane; and 4, detecting potential collision by acrossroad control center, and calculating the priority of potential collision vehicles according to the vehicle passing plan, the intersection arrival time, the front vehicle driving information and different vehicle following types. The method is reasonable in design, not only ensures no collision among vehicles and improves the traffic safe