Intersection collaborative ecological driving control method and system for mixed traffic environment

The invention provides an intersection collaborative ecological driving control method and system for a mixed traffic environment, and relates to the technical field of ecological driving, and the method comprises the steps: obtaining first information which comprises the current time speed and the current time position of a new entering vehicle in a control region; establishing an expected arrival time estimation model, and solving the expected arrival time estimation model to obtain the expected arrival time of the newly entering vehicle; second information is obtained, wherein the second information comprises the current time speed and the current time position of all vehicles in the control area; establishing a linearized model prediction control model of the hybrid traffic system in the control area, and solving the linearized model prediction control model to obtain accelerations of all networked autonomous vehicles; controlling the networked automatic driving vehicle to drive towards a stop line of the