This paper describes a multi-agent system (MAS) acting on an arterial road network, where each intersection is controlled by an agent. The agents are concerned with the efficient control of their intersection. In order to improve the overall performance of the system we propose a model of explicit coordination that directs the behavior of agents for the formation of green waves on the artery, in addition to maintaining the autonomy of each agent. The model is tested in simulation and compared with the traditional approach of synchronization of traffic lights. The results obtained in simulation overcome the traditional model by representing a more realistic model of traffic.