Abstract: Based on the shared-use lane control method of intersection with left-turn waiting area configuration, a comprehensive optimization model with lane allocation and signal timing optimization was proposed to obtain the optimal design of shared-use lane assignment and signal timing, which is a mixed integer nonlinear programming model. A feasible directions method was hence introduced to solve the mixed integer non-linear programming. The research result shows that the improved control method and optimization model effectively improve the traffic efficiency of the intersections and minimize the average delay of the intersection. The comparison between the shared-use configuration with waiting area and the conventional configuration was presented and the result verifies that the former shows better performance than the latter. Besides, the sensitivities of the optimized average delay were investigated, which include the length of waiting area and the arrival rates. The optimal results proposed by the integrated model may enrich the design of signalized intersections with waiting area.