Abstract: For the T-type intersections without signal control, a hierarchical speed limit control model of intersections in heterogeneous traffic flow environment was proposed. According to the vehicle characteristics of heterogeneous traffic flow, the concept of graded speed limit was introduced, and the vehicle information matrix of intersections was established. A linear programming model was constructed with the shortest time of traffic passing through the conflict area as optimization objective and the time interval for ensuring the safe driving of conflict vehicles as constraint condition. The proposed model was verified by the experiments on the simulation platform built by MATLAB. The results show that in the mixed traffic environment, when the vehicle arrival rate is 0.30-0.50, the proposed model can increase the intersection capacity by about 20% on the basis of the traditional control model. When the penetration rate of intelligent connected vehicles reaches 0.90, the traffic capacity of the intersection can be increased by about 17%. The proposed model can effectively improve the utilization efficiency of road resources and greatly reduce the delay of branch vehicles with ensuring the smooth operation of the main road.