I. Introduction
The emergence of automated vehicles (AVs) has transformed the landscape of transportation, bringing significant benefits [1], [2]. The positive impact of AVs on traffic dynamics is evidenced through various studies, highlighting their potential to reduce passenger travel time [3], increase highway capacity [4]–[6], and mitigate fuel consumption along with emissions [7]. However, an important premise to achieve the aforementioned benefits from AVs requires higher market penetration rates of these intelligent robots [8]. Clearly, as we transition towards a future era of automated transportation, it is anticipated that a phase of mixed-autonomy will appear, characterized by the coexistence of human-piloted and automated vehicles [9]. As a result, the interactions between AV and human-driven vehicles (HVs) are a critical area prior to the prevalence of AVs in the market.