This research has developed a traffic signal control algorithm that directly measures the delay of each vehicle using ITS sensing technologies such as AVI sensors. The algorithm automatically updates signal parameters to minimize the total delay. Through the experiment, the algorithm shows the good performance in terms of the improvement of total delay, even though the traffic conditions which may be affected by the demand profiles or the saturation flow rate of each link are widely varying We are planning to have a real-world experiment and examine the effectiveness under the real traffic conditions.