The traditional model of intersection signal timing only takes vehicle delay into consideration. But with the rapid growth of vehicle ownership in cities, vehicle exhaust emissions have seriously affected the urban air quality, especially in intersections of frequency-dependent driving conditions, motor vehicle emissions are doubled. This paper proposes a vehicle emission calculation model of urban road intersections driving conditions which is based on in-depth analysis of the relationship of vehicular traffic parameters and vehicle emissions. Meanwhile, by combining with analysis of intersection vehicle delay, urban road intersection signal timing models of balance between delay and emissions is established in this paper. Finally, through instance validation, the model can not only keep intersection vehicle delay at a low level, but also effectively reduces