  In this paper, a comprehensive Eco-Driving strategy for CAVs is presented. In
this setup, multiple driving modes calculate speed profiles ideal for their own
set of constraints simultaneously to save fuel as much as possible, while a
High Level (HL) controller ensures smooth transitions between the driving modes
for Eco-Driving. This Eco-Driving deterministic controller for an ego CAV was
equipped with Vehicle-to-Infrastructure (V2I) and Vehicle-to-Vehicle (V2V)
algorithms. Simulation results are used to show that the HL controller ensures
significant fuel economy improvement as compared to baseline driving modes with
no collisions between the ego CAV and traffic vehicles while the driving mode
of the ego CAV was set correctly under changing constraints.
