Traffic accidents can lead to rapid changes in the traffic supply and demand at urban intersections, thus causing a severe traffic supply/demand imbalance during specific periods. Responding to accidents requires dynamic and accurate adjustments to optimize intersection resources collaboratively and enhance the real-time reliability and stability of traffic flows during such accidents. Currently, research on traffic incidents rarely considers real-time data-based collaborative optimization theories. Therefore, this study, supported by real-time incident detection technology and accident data, first considers the location and intensity of traffic incidents to update dynamically the changes in intersection traffic demand and supply. Subsequently, a dynamically collaborative optimization method is proposed based on lane assignment and signal timings to minimize the sum of variances of the degree of saturation of various approach lanes. Finally, various traffic demand scenarios are set, and the effectiveness of the proposed model is validated based on numerical and sensitivity analyses. The results demonstrate that compared with signal-only optimization and the highway capacity methods (HCM), the collaborative optimization method presented in this study reduces the average vehicular delay percentages by 8.54% and 16.47%, respectively. Sensitivity analysis indicates that, under various detour rates and detour modes, collaborative optimization methods have effectively mitigated the average vehicular delay at upstream intersections to varying degrees. In the context of real-time accident response, collaborative optimization methods demonstrate a capacity to promptly address the urgency of incidents occurring and maintain a sustained reduction in overall delay levels following detours.