Table 1 Model parameters of vehicle motion in road lane used in simulations of the main text

τ_safe = τ = 1 s, d = 7.5 m/δx,

δx = 0.01 m, δv = 0.01 ms⁻¹, δa = 0.01 ms⁻²,

v_free = 30 ms⁻¹/δv, b = 1 ms⁻²/δa, a = 0.5 ms⁻²/δa,

k = 3, p₁ = 0.3, p_b = 0.1, p_a = 0.17, p⁽⁰⁾ = 0.005,

p₀(v_n) = 0.575 + 0.125 min (1, v_n/v₀₁),

p₂(v_n) = 0.48 + 0.32Θ(v_n − v₂₁),

v₀₁ = 10 ms⁻¹/δv, v₂₁ = 15 ms⁻¹/δv,

a⁽⁰⁾ = 0.2a, a^(a) = a^(b) = a.