I was able to relate myself to this paper more readily than the other ones since its topic was managing traffic where I take a selfish role on some days while polite ones on other days. :)

I had a minor question about the performance function P (equation 1) on page 3. The paper states that it wants to 'maximize equation 1' but I am failing to see why one would want to do this. I think I understand the motivations behind the choice of two terms that compose P. In order to maximize P, one would like to maximize the first term, which is the sum of squared errors, and minizmize the second term, which is sum of number of lane changes. However maximizing the first term contradicts the motivation behind the choice of this term-- smaller squared errors is desired since it means that cars are more or less driving at speeds that they want.