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In the foreseeable future, connected vehicles (CVs) will coexist with traditional vehicles (TVs) resulting in a complex mixed traffic environment and the success of CVs will depend on the characteristics of this mixed traffic. Therefore, before the large scale deployment of CVs, it is important to examine how CVs will influence the characteristics of the resultant mixed traffic. To achieve this aim, this study models the mixed traffic of TVs and CVs, and examines the traffic flow disturbance, efficiency, and safety. Intelligent Driver Model (IDM) with estimation errors is utilised to model TVs since it incorporates human factors such as estimation errors. Whereas, connected vehicle driving strategy integrated with IDM is utilised to model CVs because it incorporates driver compliance, a critical human factor for the success of CVs. Moreover, two classes of drivers based on their compliance levels are considered, namely the high …