Connected　Automated　Vehicles　(CAVs)　have　drawn　much　attention　in　recent　years.　High　reliable　automatic　technologies　can　help　CAVs　to　follow　given　trajectories　well.　However,　safety　and　efficiency　are　hard　to　be　ensured　since　the　interactions　between　CAVs　and　pedestrians　are　complex　problems.　Thus,　this　study　focuses　on　cooperative　intersection　management　for　CAVs　and　pedestrians.　To　avoid　the　effects　of　uncertainty　about　pedestrian　behaviors,　an　indirect　way　is　to　use　pedestrians＇　signal　lights　to　guide　the　movements　of　pedestrians,　and　such　lights　with　communication　devices　can　share　information　with　CAVs　to　make　decisions　together.　In　time　domains,　a　general　conflict-free　rule　is　established　depending　on　the　positions　of　CAVs　and　crosswalks.　Geometric　analysis　with　coordinate　calculation　is　used　to　accurately　determine　the　feasible　vehicle　trajectories　and　the　reasonable　periods　for　signal　lights　turning　green.　Four　control　strategies　for　the　same　conditions　are　compared　in　simulation　experiments,　and　their　performances　are　analyzed.　We　demonstrate　that　the　proposed　cooperative　strategy　not　only　balances　the　benefits　of　vehicles　and　pedestrians　but　also　improves　the　traffic　efficiency　at　the　intersection.　©　2018　Tsinghua　University　Press.