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We address the problem of optimally controlling Connected and AutomatedVehicles (CAVs) arriving from four multi-lane roads at an intersection wherethey conflict in terms of safely crossing (including turns) with no collision.The objective is to jointly minimize the travel time and energy consumption ofeach CAV while ensuring safety. This problem was solved in prior work forsingle-lane roads. A direct extension to multiple lanes on each road is limitedby the computational complexity required to obtain an explicit optimal controlsolution. Instead, we propose a general framework that first converts amulti-lane intersection problem into a decentralized optimal control problemfor each CAV with less conservative safety constraints than prior work. We thenemploy a method combining optimal control and control barrier functions, whichhas been shown to efficiently track tractable unconstrained optimal CAVtrajectories while also guaranteeing the satisfaction of all constraints.Simulation examples are included to show the effectiveness of the proposedframework under symmetric and asymmetric intersection geometries and differentschemes for CAV sequencing.

A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Intersections