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The emergence of Connected and Automated Vehicles (CAVs) promises bettertraffic mobility for future transportation systems. Existing research mostlyfocused on fully-autonomous scenarios, while the potential of CAV control at amixed traffic intersection where human-driven vehicles (HDVs) also exist hasbeen less explored. This paper proposes a notion of "1+n" mixed platoon,consisting of one leading CAV and n following HDVs, and formulates aplatoon-based optimal control framework for CAV control at a signalizedintersection. Based on the linearized dynamics model of the "1+n" mixedplatoon, fundamental properties including stability and controllability areunder rigorous theoretical analysis. Then, a constrained optimal controlframework is established, aiming at improving the global traffic efficiency andfuel consumption at the intersection via direct control of the CAV. Ahierarchical event-triggered algorithm is also designed for practicalimplementation of the optimal control method between adjacent mixed platoonswhen approaching the intersection. Extensive numerical simulations at multipletraffic volumes and market penetration rates validate the greater benefits ofthe mixed platoon based method, compared with traditional trajectoryoptimization methods for one single CAV.

Mixed platoon control of automated and human-driven vehicles at a signalized intersection: dynamical analysis and optimal control