There are always a lot of vehicle conflicts and interweaving at intersections. In response to reducing the number of car crashes and improve traffic capacity at intersections. This paper presents an intersection coordination control strategy for the intelligent connected vehicle (ICV). Firstly, based on the “buffer-assignment” mechanism, the road network is divided into three logical sections, namely, buffer area (BA), core area (CA), and free driving area. Then, a time assignment model of CA is proposed to assign a specific crossing span for vehicles. Meanwhile, we design a speed control model of BA, which can guide individual ICV to arrive at CA within the preallocated span by adjusting its speed. Besides, a set-projection algorithm and a three-segment linear speed profile are respectively employed to get optimal solution of crossing span and calculate kinetic parameters of the ICVs in BA. Finally, a 2*2 network structure is used as a model to form a road network of 4 intersections, and the micro-simulation software VISSIM is used to model and obtain traffic efficiency evaluation indicators. Through the analysis of the simulation results, the proposed method can effectively improve the traffic capacity of the intersection, reduce travel delay, the number of stops, fuel consumption, exhaust emissions and so on. This intersection coordination control strategy can be applied to the related research of ICV and provides a reference for coordinated control of multiple vehicles at the intersection.