Abstract: To make a coordinated control for the conflict between manned and unmanned vehicles at intersections, a coordination algorithm was designed based on game theory, regarding the manned and unmanned vehicles at intersections as participants in the game with the thought of intelligent connected vehicle. Firstly, taking the speed change scheme as the game strategy, a profit matrix was constructed for both sides. And then, driving revenue function was determined by introducing the benefits of driving safety, driving efficiency and driving comfort. The Nash equilibrium of the game model was solved as the optimal driving strategy combination of both sides to complete the collaborative optimization of multi-vehicle conflict at intersections. Finally, the diversity of driver types was introduced into the simulation model,validating the proposed algorithm with Matlab software. The simulation results show that, the unmanned vehicle can adjust its behavior strategy according to the behavior of human driver. Compared with conflict table algorithm, the coordination algorithm can reduce the time of conflict resolution obviously. It can be seen that the model not only effectively avoids the collision risk, but also improves crossing efficiency at intersections.