A method of decelerating a plurality of vehicles along a roadway, comprising: at a first vehicle: receiving, from an adjacent downstream vehicle: a braking indication signal indicating initiation of a braking operation of the adjacent downstream vehicle; and a first deceleration value indicating a deceleration rate of the adjacent downstream vehicle; and in response to receiving the braking indication signal: determining a first distance (d) to the adjacent downstream vehicle; determining, based at least in part on the first distance (d), a second deceleration value configured to prevent the first vehicle from colliding with the adjacent downstream vehicle; in accordance with a determination that the second deceleration value is greater than or equal to an upper deceleration value, decelerating at the upper deceleration value; in accordance with a determination that the second deceleration value is less than the upper deceleration value and greater than a lower deceleration target, decelerating at the second deceleration value; and in accordance with a determination that the second deceleration value is less than or equal to the lower deceleration target: after receiving the braking indication signal, maintaining a speed of the first vehicle for a duration; and after maintaining the speed of the first vehicle for the duration, decelerating at the lower deceleration target. receiving, from an adjacent downstream vehicle: a braking indication signal indicating initiation of a braking operation of the adjacent downstream vehicle; and a first deceleration value indicating a deceleration rate of the adjacent downstream vehicle; and a braking indication signal indicating initiation of a braking operation of the adjacent downstream vehicle; and a first deceleration value indicating a deceleration rate of the adjacent downstream vehicle; and in response to receiving the braking indication signal: determining a first distance (d) to the adjacent downstream vehicle; determining, based at least in part on the first distance (d), a second deceleration value configured to prevent the first vehicle from colliding with the adjacent downstream vehicle; in accordance with a determination that the second deceleration value is greater than or equal to an upper deceleration value, decelerating at the upper deceleration value; in accordance with a determination that the second deceleration value is less than the upper deceleration value and greater than a lower deceleration target, decelerating at the second deceleration value; and in accordance with a determination that the second deceleration value is less than or equal to the lower deceleration target: after receiving the braking indication signal, maintaining a speed of the first vehicle for a duration; and after maintaining the speed of the first vehicle for the duration, decelerating at the lower deceleration target. determining a first distance (d) to the adjacent downstream vehicle; determining, based at least in part on the first distance (d), a second deceleration value configured to prevent the first vehicle from colliding with the adjacent downstream vehicle; in accordance with a determination that the second deceleration value is greater than or equal to an upper deceleration value, decelerating at the upper deceleration value; in accordance with a determination that the second deceleration value is less than the upper deceleration value and greater than a lower deceleration target, decelerating at the second deceleration value; and in accordance with a determination that the second deceleration value is less than or equal to the lower deceleration target: after receiving the braking indication signal, maintaining a speed of the first vehicle for a duration; and after maintaining the speed of the first vehicle for the duration, decelerating at the lower deceleration target. after receiving the braking indication signal, maintaining a speed of the first vehicle for a duration; and after maintaining the speed of the first vehicle for the duration, decelerating at the lower deceleration target.