A cellular automaton model is proposed to depict dynamical evolution of urban traffic flow under control of traffic lights on a single-lane road. It is assumed that traffic lights have global influence on vehicles, and drivers adjust their behaviors timely according to the states of traffic light. Furthermore, anticipation effect is taken into account to predict the movement of vehicles in the presence of traffic lights. Therefore vehicles can move forward more smoothly. This is in agreement with the actual situation. It is expected that using the proposed strategy in driving can help reduce vehicle idling and abrupt deceleration and lead to less emission of exhausted gas.