  This study presents a vehicle-level distributed coordination strategy to
control a mixed traffic stream of connected automated vehicles (CAVs) and
connected human-driven vehicles (CHVs) through signalized intersections. We use
CAVs as mobile traffic controllers during a newly introduced white phase,
during which CAVs will negotiate the right-of-way to lead a group of CHVs while
CHVs must follow their immediate front vehicle. The white phase will not be
activated under low CAV penetration rates, where vehicles must wait for green
signals. We have formulated this problem as a distributed mixed-integer
non-linear program and developed a methodology to form an agreement among all
vehicles on their trajectories and signal timing parameters. The agreement on
trajectories is reached through an iterative process, where CAVs update their
trajectory based on shared trajectory of other vehicles to avoid collisions and
share their trajectory with other vehicles. Additionally, the agreement on
signal timing parameters is formed through a voting process where the most
voted feasible signal timing parameters are selected. The numerical experiments
indicate that the proposed methodology can efficiently control vehicle
movements at signalized intersections under various CAV market shares. The
introduced white phase reduces the total delay by 3.2% to 94.06% compared to
cooperative trajectory and signal optimization under different CAV market
shares in our tests. In addition, our numerical results show that the proposed
technique yields reductions in total delay, ranging from 40.2% - 98.9%,
compared to those of a fully-actuated signal control obtained from a
state-of-practice traffic signal optimization software.
