Most previous works on urban traffic efficiency focused on the optimization of signal timings, assuming vehicle speed was fixed or followed a giving distribution. In this paper, based on the two way communication between vehicles and signal controller in Connected Vehicle (CV) environment, we developed two vehicle speed guidance methods to decrease delay and number of stops at intersections. By using Visual Basic and VISSIM COM interface, the simulation model consists of three modules: the signal timing, the vehicle speed guidance, and the dynamic optimization. A field intersection of Cao'an Road and Lvyuan Road in Shanghai is employed for simulation tests. Compared with the simulation results optimized by classical signal control method, the proposed methods can significantly decrease delays and number of stops, and improve the efficiency of traffic control.