A method for controlling vehicular congestion at intersections, the method comprising: detecting, by one or more processors, a group (C 1 ) of two or more vehicles (V 1 , V 2 , V 3 ) stopped at an intersection regulated by a traffic light , wherein for each of the vehicles in the group, movement through the intersection in response to a change in a state of the traffic light is affected by movement of at least one other vehicle in the group; determining, by the one or more processors, a time when the state of the traffic light changes to allow the group of vehicles to start moving through the intersection; determining, by the one or more processors, one or more acceleration parameters for a certain vehicle in the group in view of potential and/or actual movement of the other vehicles in the group through the intersection; and providing, by the one or more processors, guidance to a device operated by a driver of the certain vehicle regarding the determined one or more acceleration parameters, in accordance with the determined time, the method further comprising: monitoring a movement of the group of vehicles through the intersection, after the state of the traffic light has changed to allow the group of vehicles to start moving through the intersection and the guidance of the group of vehicles begins, modifying the monitored group in response to vehicles entering or leaving a lane, and adjusting the acceleration parameters in view of the modified group, and providing updated guidance to the device related to the adjusted acceleration parameters. detecting, by one or more processors, a group (C 1 ) of two or more vehicles (V 1 , V 2 , V 3 ) stopped at an intersection regulated by a traffic light , wherein for each of the vehicles in the group, movement through the intersection in response to a change in a state of the traffic light is affected by movement of at least one other vehicle in the group; determining, by the one or more processors, a time when the state of the traffic light changes to allow the group of vehicles to start moving through the intersection; determining, by the one or more processors, one or more acceleration parameters for a certain vehicle in the group in view of potential and/or actual movement of the other vehicles in the group through the intersection; and providing, by the one or more processors, guidance to a device operated by a driver of the certain vehicle regarding the determined one or more acceleration parameters, in accordance with the determined time, the method further comprising: monitoring a movement of the group of vehicles through the intersection, after the state of the traffic light has changed to allow the group of vehicles to start moving through the intersection and the guidance of the group of vehicles begins, modifying the monitored group in response to vehicles entering or leaving a lane, and adjusting the acceleration parameters in view of the modified group, and providing updated guidance to the device related to the adjusted acceleration parameters. monitoring a movement of the group of vehicles through the intersection, after the state of the traffic light has changed to allow the group of vehicles to start moving through the intersection and the guidance of the group of vehicles begins, modifying the monitored group in response to vehicles entering or leaving a lane, and adjusting the acceleration parameters in view of the modified group, and providing updated guidance to the device related to the adjusted acceleration parameters. <EOS>