Reducing traveling delay by optimizing traffic signal schedules at intersection has long been under research. Similarly, many vehicle technologies have been applied to reduce fuel consumption and emission. One major source of fuel consumption and emission is the unnecessary stop-then-start cycles. In this paper, we propose the Adaptive Signal-Vehicle Cooperative control system (ASVC) that produces both the optimal traffic signal schedules and the optimal vehicle speed advice to minimize both delay and stop-then-start cycles. Statistics shows ASVC reduces more than 53% delay and 54% stops, compared to the baseline system TRANSYT.