针对现有最优路径规划算法没有充分考虑不同转向类型的车辆在信号交叉口处的等待时间，导致算出的最优路径实际效果不佳等问题，提出了一种考虑信号交叉口转向类型的最优路径规划算法． 首先，根据不同的转向类型构建了信号交叉口等待时间模型;然后，提出了一种改进的星型表，对路网中邻接路段之间的转向类型与相应参数进行表达和存储优化; 在此基础上，提出了考虑信号交叉口转向类型的拓展A* 算法( CMTA* 算法) ，并进行了算例验证． 结果表明，相比于传统算法和考虑信号交叉口等待时间的CWTSISP算法，CMTA* 算法所计算出的最优路径时间费用更低，并且运算效率更高．

As the existing optimal route planning algorithms do not fully consider the waiting time of vehicles with different movement types at signal intersections,no satisfactory optimal routes can be obtained.In order to solve this problem,an optimal route planning algorithm considering the movement type at signal intersections is proposed.In this algorithm,first,a waiting time model considering the movement type at signal intersections is established.Then,an improved forward star structure is constructed to optimize the representation and storage of the movement type and information in the road network.Moreover，an extended A* algorithm considering the movement type,namely CMTA* algorithm,is developed,and a case study is carried out.The results show that,as compared with the traditional algorithm and the CWTSI-SP algorithm considering the waiting time at intersections,CMTA* algorithm helps to obtain better routes with lower time cost.