This model presents an autonomous, two-lane driving environment with a single lane-closure that can be toggled. The four driving scenarios - two baseline cases (based on the real-world) and two experimental setups - are as follows:

• Baseline-1 is where cars are not informed of the lane closure.
• Baseline-2 is where a Red Zone is marked wherein cars are informed of the lane closure ahead.
• Strategy-1 is where cars use a co-operative driving strategy - FAS. ^[1]
• Strategy-2 is a variant of Strategy-1 and uses comfortable deceleration values instead of the vehicle’s limit.
  …