Distributed control of vehicles with coordinating cars that implement a cooperative control method, and non-coordinating cars that are presumed to follow predictable dynamics. A cooperative control method can combine distributed receding horizon control, for optimization-based path planning and feedback, with higher level logic, to ensure that implemented plans are collision free. The cooperative method can be completely distributed with partially synchronous execution, and can afford dedicated time for communication and computation, features that are prerequisites for implementation on real freeways. The method can test for conflicts and can calculate optimized trajectories by adjusting parameters in terminal state constraints of an optimal control problem.