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Electric vehicles have been considered into effective solutions to address energy problems in urban traffic systems for their remarkable performance in energy costs and carbon emissions reduction. However, the energy-saving effect of electric vehicles in urban traffic systems is restricted due to the complexities arising from mixed traffic conditions. To improve energy efficiency, this paper proposes an eco-driving-based mixed vehicular platoon control model for successive signalized intersections with connected and autonomous vehicles (CAVs), connected vehicles (CVs) and manned vehicles (MVs). Firstly, the dynamics model and spacing policy are analyzed, then the optimal platoon size and speed are calculated according to different traffic scenarios. Secondly, the mixed vehicular platoon control algorithm is established by considering traffic timing, energy consumption and string stability. Thirdly, an actual eco …