  We extend earlier work establishing a framework for optimally controlling
Connected Automated Vehicles (CAVs) crossing a signal free intersection by
jointly optimizing energy and travel time. We derive explicit optimal control
solutions in a decentralized manner that guarantee both a speed-dependent
rear-end safety constraint and a time-dependent lateral collision constraint,
in addition to lower/upper bounds on speed and acceleration. Extensive
simulation examples are included to illustrate this framework.
