Abstract: The current design of intersection signal phase relies heavily on practical experience. Without thorough consideration of the impact of the non-traffic flow characteristics and non-motorized vehicles’ street-crossing mode, it often causes poor use of time and space resources. This paper proposes an intersection signal dynamic release scheme which takes into account the phase traffic flow imbalance and the impacts of non-motorized vehicle expansion effect on motorized vehicles. A delay estimation model based on different release methods is built, and a sensitivity analysis method is employed to present quantitative setting conditions for different release schemes. An intersection in Beijing is taken as an example. The signal timing schemes corresponding to different release schemes are obtained by improving the ant colony algorithm. The results show “rotation release+twice crossing” is used when aj is greater than 0.25. When aj is less than 0.25, the ratio of left-turn and direct flow is greater than 1∶3, and the left-turn flow of non-motorized vehicles is 100～500 veh·h-1, “symmetrical release + once crossing” is adopted. When the ratio of flow is less than 1∶3, “symmetrical release + twice crossing” is adopted accordingly. Compared to the traditional release scheme, the use of symmetrical lap release results in a reduction of 13.6s in delay per person, down by 25.81%. Therefore, the release scheme proposed in this paper effectively improves the traffic efficiency at intersections.