As the research on Cooperative Vehicle-Infrastructure Systems advances, a new hybrid traffic flow state in which intelligent networked vehicles coexist with traditional manually driven vehicles will appear in the future period, posing novel challenges. This paper takes the single-point signal intersection as the research scenario, constructs the intelligent networked vehicle speed guidance control strategy with adaptive real-time signal phase under the environment of vehicle-road coordination, Building upon this, an intelligent vehicle platooning control model is established based on vehicle safety distance and queue length for parking and waiting. The simulation verification is carried out on the example of “East Shenhu Road-Zhongnan Street” cross-type signal intersection in Suzhou City, and it is demonstrated that under equivalent traffic volume, when ICV penetration rate is 70%, 80%, 90%, and 100%, the average travel time of the vehicles is reduced by 0.38%, 4.16%, 5.58%, 5.58%, and 6.01% respectively. Similarly, the average traffic delay is reduced by 1.15%, 9.50%, 12.74%, 13.35% and the average stopping frequency decreases by 7.8%, 11.9%, 13.7%, 15.54%. It is verified that the intelligent straight cruising control strategy model proposed in this paper has good control effect in both purely networked and multi-mode driving vehicles mixed environment, significantly enhancing signalized intersection throughput efficiency.