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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-driving-based platoon control system for tested electric vehicles is designed. The field test results demonstrate that all platoons can pass through intersections during green phase with minimum energy consumption, meanwhile the string stability can be guaranteed. It is noteworthy that the proposed model can greatly improve urban traffic capacity and energy efficiency. • A novel dynamical model of mixed vehicular platoon is explored by integrating different characteristics of CAV, CV, and MV. • An optimal speed algorithm of the leading vehicle to pass through successive signalized intersections is proposed according to signal timing, vehicular speed, and entry time. • The eco-driving-based mixed vehicular platoon control model is established, and the multi-objective function considering traffic environmental constraints are formulated to minimize the travel time and energy consumption. [ABSTRACT FROM AUTHOR]