Passing the intersection is a crucial traffic scenario in urban traffic network. Rapid development of vehicle technologies makes vehicles cross the intersection more efficiently. In this paper, we propose a protocol where vehicles can pass the intersection safely and efficiently at a 6-lane dual carriageway. To ensure the safety of the protocol, we formally model the protocol and verify some necessary properties using the tool Uppaal. To evaluate the performance of our protocol, we conduct extensive experiments. After analyzing experimental data, the average rate of time reduction in a circle is over 92%. The results demonstrate that our protocol is both efficient and effective.