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Earlier work has established a decentralized framework of optimallycontrolling connected and automated vehicles (CAVs) crossing an urbanintersection without using explicit traffic signaling. The proposed solution iscapable of minimizing energy consumption subject to a throughput maximizationrequirement. In this paper, we address the problem of optimally controllingCAVs under mixed traffic conditions where both CAVs and human-driven vehicles(non-CAVs) travel on the roads, so as to minimize energy consumption whileguaranteeing safety constraints. The impact of CAVs on overall energyconsumption is also investigated under different traffic scenarios. The benefitfrom CAV penetration (i.e., the fraction of CAVs relative to all vehicles) isvalidated through simulation in MATLAB and VISSIM. The results indicate thatthe energy efficiency improvement becomes more significant as the CAVpenetration rate increases, while the significance diminishes as the trafficbecomes heavier

The Penetration Effect of Connected Automated Vehicles in Urban Traffic: An Energy Impact Study