The invention provides a method for controlling the passing of rail vehicles at a level crossing under half-exclusive right-of-way. The method includes the following steps: reading the time t0 when arail vehicle arrives at the beacon of a level crossing and the phase cycle composition Tnow(t0) and the working state of a signal control machine at the level crossing at the time t0; determining thevalue range of the delay time t in opening the rail vehicle passing route according to the time t0, the phase cycle composition Tnow(t0) and the working state; calculating the delay time f(t0, t) of arail vehicle passing the level crossing and the delay time d(t0, t) increased by social vehicles at the level crossing; calculating the efficiency value e(t0, t) according to the delay time f(t0, t)of the rail vehicle passing the level crossing and the delay time d(t0, t) increased by social vehicles at the level crossing, determining that t=td, and maximizing the efficiency value e(t0, t); andopening the rail vehicle passing route after a delay of the time td, and adjusting the operation cycle of the level crossing according to the time td. The delay caused by tramcars to the social traffic can be minimized while the operation efficiency of tramcars is maximized, and the integration of tramcars and road vehicles can be promoted.