Serious traffic congestion is a major social problem in large cities. Inefficient setting of traffic signal cycles, especially, is one of the main causes of congestion. Green Wave is a method for controlling traffic signals which allows one-way traffic to pass through a series of intersections without being stopped by a red light. Green Wave was tested in several cities around the world, but the results were not satisfactory. Two of the problems with Green Wave are that it still stops the crossing traffic, and it forms congestion in the traffic turning into or out of the crossing streets. To solve these problems, we propose a method of controlling traffic signals, GreenSwirl, in combination with a route guidance method, GreenDrive. GreenSwirl controls traffic signals to enable a smooth flow of traffic through signals times to turn green in succession and through non-stop circular routes through the city. The GreenWave technology is extended thereby. We also use navigation systems to optimize the overall control of the city's traffic. We did a simulation using the traffic simulator SUMO and the road network of Manhattan Island in New York. We confirmed that our method shortens the average travel time by 10%-60%, even when not all cars on the road are equipped to use this system.