The invention provides a non-signalized intersection vehicle cooperative hierarchical control architecture based on ROS communication, and the architecture comprises the following steps: high-level control: employing a 5G communication technology, and after a high-level
server layer receives the state information of all road side units (RSU) in an area, dynamically adjusting the priority of RSU lanes in the area based on dynamic density-
waiting time weighted road right distribution; middle-layer control: the RSU establishes an uplink
communication link with a high-layer
server layer through a 5
G network, and senses the state of a vehicle in an area in real
time based on a V2X
direct communication network; based on dynamic priority calculation realized by a high-level
server layer, the middle layer generates a safe passing time slot in combination with multi-dimensional parameters so as to avoid conflicts; and low-layer control: the vehicle, namely the low layer, adopts V2X to realize communication with a road side unit (RSU), generates a passing track
time curve based on the safety gap of the middle layer, and uses a sliding mode to control and track. According to the invention, the three-layer architecture is creatively and deeply integrated with the SUMO
traffic simulator and the ROS2
operating system.