The invention discloses a traffic signal in crossroad and vehicle coordinated control method, device and vehicle. The method comprises the following steps: 1, based on the average traffic flow calculating the cycle of traffic signal lights, step 2, based on the positioning information of vehicles and the crossroad stop-line information calculating the signal split and the time used for various vehicles to arrive at the crossroad stop-line, step 3, based on the traffic signal cycle and signal split, controlling the switching of traffic signal lights of the crossroad, step 4, judging if all vehicles pass the crossroad, if the answer is negative, then entering step 5, if the answer is affirmative, entering step 6, step 5, sending the crossroad stop-line arrival time of all vehicles and the traffic signal light cycle to the corresponding vehicles for the calculation of the anticipated speeds of corresponding vehicles, step 6, checking whether the traffic signal light cycle is ended, if the answer is affirmative, returning to step 2, if the answer is negative, returning to step 4. The method can optimize the time distribution of crossroads and the speed and acceleration trajectory of the vehicles passing the crossroads, and control the traffic signals of the crossroads and the acceleration of the vehicles heading toward the crossroads.