  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.
