# Decentralized Optimal Control for Connected Automated Vehicles at Intersections Including Left and Right Turns

arXiv: https://arxiv.org/abs/1703.06956 · HTML: https://mlsanity.com/paper/1703.06956/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Mar 2017.

## Built on by (most cited first, 2 of 2)

- [Autonomous Driving Strategies at Intersections: Scenarios, State-of-the-Art, and Future Outlooks](https://mlsanity.com/paper/2106.13052/) (2021)
- [Intelligent Autonomous Intersection Management](https://mlsanity.com/paper/2202.04224/) (2022)

## Abstract (arXiv)

In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any explicit traffic signaling and without considering left and right turns. In this paper, we extend the solution of this problem to account for left and right turns under hard safety constraints. Furthermore, we formulate and solve another optimization problem to minimize a measure of passenger discomfort while the vehicle turns at the intersection and we investigate the associated tradeoff between minimizing fuel consumption and passenger discomfort.