  In earlier work, a decentralized optimal control framework was established
for coordinating online connected and automated vehicles (CAVs) at urban
intersections. The policy designating the sequence that each CAV crosses the
intersection, however, was based on a first-in-first-out queue, imposing
limitations on the optimal solution. Moreover, no lane changing, or left and
right turns were considered. In this paper, we formulate an upper-level
optimization problem, the solution of which yields, for each CAV, the optimal
sequence and lane to cross the intersection. The effectiveness of the proposed
approach is illustrated through simulation.
