Aiming at the traffic congestion problem of mining vehicles in the intersection area of three-fork roadways in coal mines, this paper proposes a speed guidance strategy based on a vehicle–road cooperative environment to adjust the running state of mining vehicles in the three-fork roadway system. The proposed speed guidance strategy can realize the safe and effective passage of underground mining vehicles to the greatest extent. Taking a three-fork roadway in a coal mine as an actual case, the operation of mining vehicles in the three-fork roadway is optimized and scheduled. Through the joint simulation of PTV VISSIM 4.3 traffic simulation software and PYTHON 3.7, the travel time, number of queuing vehicles, and delay time of mining vehicles passing through the three-fork roadway entrance under the two conditions of no speed and speed guidance in the coal mine are simulated and compared. The results show that after using the proposed speed guidance strategy for scheduling, mining vehicles can quickly pass through the three-fork roadway intersection. The travel time is reduced by 18.4%, the number of queuing vehicles is reduced by 41.5%, and the delay time is reduced by 24.1%, which effectively improves the transportation efficiency of underground mining vehicles.