In current vehicle navigation system, path planning is mostly based on short physical length of route. However, road network information not only include physical length, but also include various traffic rules such as lane, no entry and steering delay of intersection. In this paper, considering the crossing traffic rule restrictions, we propose an urban vehicle routing algorithm based on ant colony algorithm. Firstly, urban road network is described as directed weighted graph, which is considering actual traffic rules. Secondly, roads weight calculation formula in the static path planning is put forward by analyzing various influence factors of road network information and road level. Finally, the vehicle routing optimization algorithm is presented by combining ant colony algorithm and crossing traffic rule restriction. Experimental results show that our algorithm is effective and gets an optimized road path.