Aiming at the mixed car-following environment composed of automated vehicles (AV) and manual vehicles (MV), the impact of AV on car-following behavior of MV based on Waymo open dataset was studied. The modeling ability and model parameter changes of the desired safety margin model and the intelligent driver model in the mixed driving environment were explored, and the results showed that the mechanism of car-following behavior of MV in the mixed driving environment did not change, but the MV driver was less sensitive to deceleration. In addition, the MV car-following behavior of the mixed environment in terms of safety, stability and environmental performance was further analyzed, and the results showed that the stability and environmental performance were improved, but the safety did not change. Moreover, the speed volatilities of the leading vehicles were discussed, and the results showed that the leading vehicles of AV mainly suppressed the speed volatility of the rear vehicles of MV by reducing its own speed volatility, so as to improve the performance of the rear vehicles of MV in terms of stability and environmental performance.