//Parameters:
P1 = [0.0,1.0]
P2 = [0.0,1.0]
//Policy:
if P[safe_to_merge()] >= P1 --> merge()
elif (AND (OR current_speed(1),current_speed(2),current_speed(3),current_speed(4)),P[next_to()] >= P2) --> decrease_speed()
else keep_speed()
