  In this paper, we propose a framework for the longitudinal control of
connected and automated vehicles traveling in mixed traffic consisting of
connected and non-connected human-driven vehicles. Reactive and predictive
controllers are proposed. Reactive controllers are given by explicit feedback
control laws. In predictive controllers, the control input is optimized in a
receding-horizon fashion, which depends on the predictions of motions of
preceding vehicles. Beyond-line-of-sight information is obtained via
vehicle-to-vehicle (V2V) communication, and is utilized in the proposed
reactive and predictive controllers. Simulations utilizing real traffic data
are used to show that connectivity can bring significant energy savings.
