[Purposes] In the automatic driving environment without signal control, there will be a large number of conflicts between autonomous vehicles and pedestrians. It′s a critical issue to be addressed in how to ensure the safety of pedestrians′ crossing at autonomous intersections and avoid causing greater interference to autonomous vehicles. [Methods] This paper proposes an unique traffic control method for pedestrians′ crossing based on the conflict phase groups. The vehicles approaching the intersection are divided into four conflict phase groups according to their movements, and the passage time is allocated separately within each phase group. The passage time of vehicles traversing the intersection are then modeled based on the phase groups. Based on interspersed traffic mode, traffic lights are utilized to ensure the safety of pedestrians′ crossing, the two-stage crossing for pedestrians is also employed to improve the overall efficiency of the intersection. A mixed-integer linear programming (MILP) model is formulated, aiming to maximize the sum of the product of demand and actual traffic volume for each direction at intersections. The decision variables of the model include the time proportions for vehicle movement in each direction and the pedestrian signal states. Con-straints are incorporated to comprehensively consider factors such as traffic flow, pedestrian rights of way, and vehicle passage rights. The allocation of right-of-way for both vehicles and pedestrians in each direction can be determined by this model. [Findings] The average delay of vehicles in this model is reduced by 26.74% compared with the fixed plan scheme, 11.53% compared with the one-stage crossing model, and the average delay of pedestrian is reduced by 51.66% compared with the fixed plan scheme and 36.20% compared with the one-stage crossing model. The result clearly shows that the proposed model can effectively improve the traffic efficiency of intersection. [Conclusions] The proposed model can allocate the space-time right of way of intersection according to the traffic demand of autonomous vehicles and pedestrians, and effectively guarantee the safety of pedestrians.