Abstract: In this study, we study the traffic states on two-lane roads with different speed limitations with lane-changing in urban traffic system. We draw the flow-density map with lane-changing on the two-lane roads with speed limitations. It is found that the traffic flow will drop in high densities. To maintain high flow in high densities, we put forward the dynamical control strategy. The dynamical control strategy can help to ease the traffic jams in high densities. We derive the flow-density plot applying the dynamical control strategy and it is found that the dynamical control strategy can indeed help to ease the traffic jams in high densities.