Compared with traditional internal combustion engine vehicles, Electric Vehicles (EVs) have the advantage of eliminating harmful gases in the environment, with great development potential in recent years. However, because the battery capacity of EVs is limited at the current stage, where to charge (to select charging station) and when/whether to charge (order the charging priority of EVs) still limit the large-scale popularity of EVs. In this paper, we develop an Urgency First Charging (UFC) charging scheduling policy, which takes the remaining parking time and charging time of EVs as the standard of charging priority. With this, the CS benefits to the shortest trip duration (summation of travelling time through CS, and charging service time at CS) is selected as optimal solution. We have conducted simulations through Helsinki's traffic scenarios. The results have shown that our proposed CS-Selection scheme effectively improves the charging comfort (in terms of waiting time and trip time) and charging efficiency (in terms of not-fully charged service due to limited parking duration).