Method and device for improving intersection passing efficiency under mixed traffic flow based on V2X

The invention discloses a method and device for improving the traffic efficiency of an intersection under mixed traffic flow based on V2X, and the method comprises the steps: obtaining the first time when a first vehicle passes through the intersection when the traffic phase of a signal lamp in the driving direction of the first vehicle is red; according to the driving state of the second vehicle, whether the second vehicle drives into the intersection within the first time is judged; if not, the roadside intelligent infrastructure changes the passing phase of the signal lamp in the driving direction of the first vehicle into a passable phase, so that the first vehicle passes through the intersection; if yes, the first vehicle stops and waits until the passing phase of the signal lamp in the driving direction of the first vehicle is the passable phase or no second vehicle drives into the intersection within the time when the first vehicle accelerates to pass through the intersection at the comfortable acceler