This paper presents a technology which allows for the existence of mixed tr
affic, as a first step towards intelligent transport systems. We begin by d
esigning an automatic driving controller called the intelligent vehicle dri
ving system (IVDS). This is a two-layer system: the higher layer analyzes t
he current scenario and infers the control objective that associates with a
certain index function; the lower layer optimizes the function provided by
the upper layer. IVDS only uses the measurement of a vehicle's speed and d
istance relative to the vehicle in front, together with measurements of the
vehicle's own state. Consequently, the vehicles equipped with the IVDS can
operate together with manually-controlled vehicles. Next, a mathematical r
ule-based model for human drivers is developed. This model attempts to mimi
c human driver's behavior in vehicle following and lane-changing. Finally,
we examine the control performance of the proposed controller and the poten
tial benefits of mixed traffic by implementing the human driver model and I
VDS on an automated highway simulator.