Traffic light operation

A method for controlling a plurality of vehicles 101a, 101b, 101c at an intersection 200 having a set of traffic lights 140, comprising: identifying the plurality of vehicles which are predicted to pass through the intersection 200; assigning an acceleration and start time to each of the vehicles, based on the actuation of the traffic lights 140, for example from green to red; and instructing actuation of one or more vehicle subsystems based on the acceleration and start time, upon actuation of the traffic light 140. The start time is the time after the actuation of the traffic lights 140 that the vehicle subsystems are actuated. This system may therefore enable more vehicles to pass through an intersection 200 whilst the traffic lights 140 are green, overcoming the problem of queued traffic at traffic lights only moving once the immediate vehicle in-front begins to move. The acceleration and start time may be assigned to maintain a set spacing 210 between the vehicles, or based on a predetermined route for each vehicle.