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An intelligent traffic signal control algorithm based on Deep Deterministic Policy Gradient (DDPG) with Pedestrian Safe is proposed. Through real-time observation of intersection data, the pedestrian safety and vehicle traffic efficiency are comprehensively considered, and the cycle duration, phase sequence and phase duration of traffic signals are intelligently controlled, safe and efficient intelligent control of intersections is realized. Meanwhile, priority empirical replay is adopted to improve sampling efficiency and accelerate algorithm convergence.Due to the contradiction between pedestrian safety and vehicle traffic efficiency, by accurately designing the reward function of reinforcement learning,the study considers the amount of pedestrian-vehicle conflicts caused by pedestrian violations and the speed of vehicles, guides traffic light to learn pedestrian behaviors at intersections, and learns the best timing scheme. The simulation results show that in the dynamic environment, the algorithm in terms of the number of collisions between pedestrians and vehicles, the average speed of vehicles, waiting time and queue length is better than the existing fixed timing schemes and other intelligent timing schemes.