For the reducing of traffic delay and fuel consumption in urban traffic, a joint optimization method of vehicle speed and traffic signals based on transportation cyber physical systems(TCPS) is proposed for the mixed traffic environment of human-driven vehicles and autonomous vehicles. Firstly, considering the interaction among traffic signals, human-driven vehicles and autonomous vehicles, a speed planning model is developed suitable for the mixed group of human-driven vehicles and autonomous vehicles. Then, aiming at the limitation of vehicle speed planning in application, i.e., unable to reduce the vehicle delay and easy to occur no solution phenomenon, a bi-objective optimization model is proposed. Vehicle speed planning and traffic signal control are comprehensively integrated to meet the simultaneous reduction of vehicle fuel consumption and delay. For the complexity of the problem, a hybrid intelligent algorithm merging the genetic algorithm and the particle swarm optimization algorithm is designed. Finally, simulation experiments based on SUMO show the effectiveness of the proposed method.