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An eco-approach planner system is established to realize lane-level navigation based eco-approach. It has the following features: i) with deeper consideration on mobility; ii) with enhanced practicality; iii) with an expanded target market for human driven vehicles on top of automated vehicles; iv) with a new structure laying the foundation for infrastructure enabled cooperative driving; v) with upgraded formulation to guarantee convergence. The performance of the proposed eco-approach planner system was evaluated in a software-in-the-loop simulation platform. The platform was previously developed by this research team and published in Transportation Research Part C. The influences of different arrival types and traffic congestion levels on the performance were analyzed. Experiment results showed that applying the planner system can reduce fuel consumption while maintaining the best feasible mobility level …