Traffic signal control (TSC) with vehicle-to-everything(V2X) communication can be very
efficient for solving traffic congestion problem. When regarding a low number of vehicles
equipped with communication capability i.e. penetration rate (PR), an assumption that TSC can
operate with a sufficient quality need to be studied. In this paper, this assumption was
investigated with simulations using COLOMBO framework. The PR is the major factor that
influences the quality of TSC, but as well the evaluation interval should be taken into account.
The performance of TSC in means of sufficient period should follow the evaluations of the
overall system. COLOMBO framework has been further investigated and new two approaches
have been proposed (i.e. instead of swarm algorithm used in COLOMBO framework, simple
and fuzzy logic have been used). To evaluate the performance of our proposal, a comparison
with COLOMBO’s approaches have been done. The results suggested that the duration that a
vehicle remains associated with roadside unit (RSU) directly or through group leader can be
used for controlling (as well as evaluating the traffic conditions) of an intersection with good
accuracy even for low PR.