Systems and methods for cooperatively managing mixed traffic at an intersection

Systems and methods for cooperatively managing mixed traffic at an intersection are disclosed herein. One embodiment determines, at an autonomous sensor-rich vehicle, that one or more other vehicles are following in the same lane, the one or more other vehicles including at least one legacy vehicle; communicates with the one or more other vehicles to form a platoon; receives Signal Phase and Timing (SpaT) information from a roadside unit associated with an intersection toward which the platoon is traveling; calculates at the autonomous sensor-rich vehicle, based at least in part on the SPaT information and location information for the platoon, a speed profile and a trajectory for the autonomous sensor-rich vehicle that minimize a delay of the platoon in traversing the intersection while accounting for fuel consumption; and executes the speed profile and the trajectory to control indirectly the one or more other vehicles while the platoon traverses the intersection.