  Most recent studies on establishing intersection safety focus on the
situation where all vehicles are fully autonomous. However, currently most
vehicles are human-driven and so we will need to transition through regimes
featuring a varying proportion of human-driven vehicles ranging from 100\% to
0\% before realizing such a fully autonomous future -- if ever. We will,
therefore, need to address the safety of hybrid systems featuring an arbitrary
mixture of human-driven and autonomous vehicles. In fact, recent incidents
involving autonomous vehicles have already highlighted the need to study the
safety of autonomous vehicles co-existing with human-driven vehicles. Motivated
by this we address the design of provably safe intersection management for
mixed traffic consisting of a mix of human-driven vehicles (HVs) as well as
autonomous vehicles (AVs).
  To analyze such mixed traffic, we model HVs as nearsighted and with
relatively loose constraints, permitting worst-case behavior while AVs are
considered as capable of following much tighter constraints. HVs are allowed
freedom to change their speed at any time while AVs are only allowed to change
their speed beginning of a time slot through a Model Predictive Controller
(MPC). AVs are assumed to possess a shorter response time and stronger braking
capability than HVs in collision avoidance. Moreover, AVs obtain the
permissions of passing through the intersection through
vehicle-to-infrastructure (V2I) communication, while HVs achieve the same
objective by following traffic lights.
  Taking the above differences into consideration, we propose a provably safe
intersection management for mixed traffic comprised of an MPC-based protocol
for AVs along with a coordination protocol for traffic lights...
