Each lane is a ring road of 600 m with 6 signalised crossings (100 m apart). Cars follow the Intelligent Driver Model:
a = a0 [1 - (v/v0)^4 - (s*/s)^2]
s* = s0 + vT + v dv / (2 sqrt(a0 b))
A red (or unsafe yellow) light acts as a stationary leader at the stop line. Cross streets alternate green with 1.5 s all-red. Coordination staggers each junction by the travel time so platoons meet green lights.