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Left turns may generate efficiency problems, which can be solved by appropriately prohibiting left turns. The goal of this paper is to propose a method for purpose of minimizing total travel times in urban road networks by prohibiting left turns. With left turn prohibition, the signal timing plan is optimized with the lane-based method because the method can adequately handle both signal timing optimization and lane assignment. The total travel time is calculated with link flows and link travel time being estimated with signal settings. As illustrated by numerical examples, prohibiting left turns reduces the total travel time of car traffic in road networks. As the left turn prohibition results can handle the randomness in the network, these results provide potential implications for congestion management.