Decentralized optimal control of Connected Automated Vehicles at signal-free intersections including comfort-constrained turns and safety guarantees

We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time minimization. We show that it is possible to achieve this goal in a decentralized manner with each CAV solving an optimal control problem, and derive explicit solutions that guarantee collision avoidance and safe distance constraints within a control zone. We investigate the associated tradeoffs between minimizing energy and vehicle travel time, as well as the passenger comfort metric and include extensive simulations to illustrate this framework. (C) 2019 Elsevier Ltd. All rights reserved.