arXiv:2611.13880v1 Announce Type: new Abstract: Connected and automated vehicles (AVs) enable traffic signals and vehicle trajectories to be optimised jointly, but existing co-optimisation frameworks overlook cyclists, even though they share the same intersections. We propose a hierarchical framework that optimises traffic signal timings, AV trajectories, and cyclist speed advice to reduce travel times for both motorised vehicles and cyclists. The upper level jointly optimises signal timings and cyclist speed advice, while the lower level optimises AV trajectories and also updates cyclist speed advice obtained from the higher level at a higher frequency based on the resulting signal plan. The framework is evaluated in simulation under multiple demand profiles and optimisation parameter settings. Compared with optimized vehicle trajectories with fixed-time signal control, the proposed framework reduces mean travel times by 13.6\% for AVs and 12.3\% for cyclists. Adding cyclist speed advice further reduces mean cyclist waiting time by about 80\% relative to the same framework without speed advice. These results demonstrate substantial benefits for both modes of transport.