Concerning the phenomenon that the queues in the entrance lanes of the intersections are imbalanced or overflowed during the peak hours, an incremental split selection method based on video queue length management was proposed. Firstly, the queueing state at the end of the red time and the queueing length level at the end of the green time were judged. Then， the increment or decrement of the green time of each phase was calculated. Finally, the dynamic balance between the green time of each phase and the queue length of each entrance lane was realized with the purpose of balancing the queue lengths of the entrance lanes. The experimental results show that, the proposed optimization method can effectively balance the queue lengths of the entrance lanes, reducing the traffic delay and traffic congestion at the intersection. When the split does not match the queue length, the optimization method can quickly adjust the split to adapt to the change of the queue length.