  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.
