Due to the lack of effective means to monitor and analyze the spatial utilization of intersection from the micro perspective, the refined management of urban intersections still relies on manual judgment and evaluation. In order to solve this problem that hinders the large-scale promotion of refined management, an automatic spatial perception model of intersection based on stable space topology was proposed. The spatiotemporal utilization status of the intersection was defined from different dimensions, and the corresponding spatiotemporal utilization evaluation indicators of intersection was constructed. Using the vehicle trajectory data collected by millimeter-wave radars at the intersection in Qingdao, the proposed method was tested from many aspects, for example, monitoring the spatiotemporal utilization status of the intersection, analyzing the congestion problem, assisting decision-making for traffic organization. The results show that the proposed method can realize real-time monitoring and accurate analysis of spatiotemporal utilization for urban intersections with a small amount of data, which can provide a basis for the optimization of traffic organization. The proposed method is conducive to the intelligent upgrade of sensing equipment at intersections, and supports the promotion and application of refined management at intersections.