Abstract: 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.

Key words: optimal route planning algorithm, intersection, movement type, waiting time, traffic engineering