With the emerging Internet of Things (IoT) and Vehicle-Road-Cloud Integration System (VRCIS) technologies, coordinating Connected and Automated Vehicles (CAVs) and traffic signal is becoming a practical solution to further enhance traffic efficiency. However, current studies still have limitations. Firstly, there is a domain mismatch between CAV trajectory planning (temporal domain) and signal optimization (spatial domain). This mismatch requires separate modeling of trajectory planning and signal optimization, which greatly reduces global optimality. Secondly, previous studies are not applicable to actual mixed traffic environment, since they mostly simplify Human-driven Vehicle’s (HV) behavior without considering queuing and stop-and-go maneuvers. Therefore, we propose a novel Multi-Vehicles and Signal Cooperation (MVSC) planner to solve the limitations via following designs. (i) Joint optimization is achieved via formulating in the spatial domain, unifying CAV’s planning domain with traffic signal optimizing domain. (ii) A parallel algorithm is designed for the adaptation to numbers of CAVs. This algorithm is based on Alternating Direction Method of Multipliers (ADMM), making full use of IoT and VRCIS. (iii) HV queuing and stop-and-go behaviors are considered in our modeling. Simulation results show that the proposed MVSC planner can enhance efficiency and ecology by 23.60% and 15.63%. At CAV’s penetration rate of 40% and V/C ratio of 0.75, the proposed planner shows its full potential in performance enhancement. The average computation time of parallel computing approach is only within 10 milliseconds, which confirms the real-time implementation capability.