The frequent occurrence of the city emergency leads to rapid development of emergency traffic management which is an important part in the Emergency Rescue System. In the intersection with heavy traffic, the emergency rescue vehicles often with increased delay, reduced safety, and sometimes even with a collision, which restrict the efficiency of the rescue. This paper established the intersection signal control optimization model based on detail analysis of emergency rescue vehicles traffic characteristics and traffic signal control. The models, on one hand, were able to guarantee the emergency vehicles through the intersection quickly and without delay; on the other hand, could ensure the minimum impact to other vehicles in the process of the emergency vehicles through the intersection. Finally, the model’s practicality was verified by real cases.