A method to improve traffic efficiency at intersections, which comprehensively considers the traffic of four common traffic elements in urban traffic, public vehicles, non-motorized vehicles, and pedestrians, and divides road sections into ordinary driving sections, internal diversion sections, and left-turning sections. There are four functional sections: the intersection section and the intersection diversion section. The intersection is divided into four parts: the intersection area of left and right turning lanes at the corner, the intersection area of central motor vehicle lanes, the non-motor vehicle passage area, and the pedestrian passage area. The traffic conflict at the intersection is decomposed into the central traffic conflict point of the intersection, the corner traffic conflict point, the internal conflict point of the road section, etc. Each serious conflict point is solved by two phases, and the phase time of different intersections overlaps as much as possible to realize the traffic flow in all directions as much as possible. Non-motor vehicles and pedestrians can pass at the same time without conflict, so as to achieve the purpose of improving traffic capacity, reducing waiting time and improving service quality.