The invention provides a method and a system for speed guide at an intersection with traffic signal lights. The method comprises the following steps: when detecting traffic signal light information of an intersection in front, acquiring the distance between the current position and the stop line of the intersection in front; calculating the arrival time needed to arrive at the stop line according to the current speed and the distance; judging the current traffic signal state, including passing and no passing; if passing is allowed, judging whether the remaining time is greater than the arrival time; if the remaining time is greater than the arrival time, prompting the driver to keep driving at the current speed; if the remaining time is not greater than the arrival time, calculating the acceleration time needed to arrive at the stop line, and judging whether the acceleration time is greater than the remaining time; if the acceleration time is greater than the remaining time, prompting the driver that there is no need to accelerate; if the acceleration time is not greater than the remaining time, prompting the driver to accelerate; if passing is prohibited, judging whether the remaining time is greater than the arrival time; if the remaining time is greater than the arrival time, prompting the driver that there is no need to accelerate; and if the remaining time is not greater than the arrival time, prompting the driver to keep driving at the current speed. The method and the system help vehicles to pass an intersection at proper speed, save time for users, and guarantee the safety of traffic.