  A typical urban signalized intersection poses significant modeling and
control challenges in a mixed traffic environment consisting of connected
automated vehicles (CAVs) and human-driven vehicles (HDVs). In this paper, we
address the problem of deriving safe trajectories for CAVs in a mixed traffic
environment that prioritizes rear-end collision avoidance when the preceding
HDVs approach the yellow and red signal phases of the intersection. We present
a predictive control framework that employs a recursive least squares algorithm
to approximate in real time the driving behavior of the preceding HDVs and then
uses this approximation to derive safety-aware trajectory in a finite horizon.
We validate the effectiveness of our proposed framework through numerical
simulation and analyze the robustness of the control framework.
