  Connected and automated vehicles (CAVs) have the potential to improve traffic
throughput and achieve a more efficient utilization of the available roadway
infrastructure. They also have the potential to reduce energy consumption
through traffic motion harmonization, even when operating in mixed traffic with
other human-driven vehicles. The key to realizing these potentials are
coordinated control schemes that can be implemented in a distributed manner
with the CAVs. In this paper, we propose a distributed predictive control
framework that features a two-dimensional maneuver planner incorporating
explicit coordination constraints between connected vehicles operating in mixed
traffic at various penetration levels. The framework includes a distributed
implementation of a reference speed assigner that estimates local traffic speed
from on-board measurements and communicated information. We present an
extensive evaluation of the proposed framework in traffic micro-simulations at
various CAV penetrations from traffic flow, energy use, and lane utilization
points of view. Results are compared to a baseline scenario with no CAVs, as
well as, a benchmark one-dimensional planner.
