A method for permitting a target vehicle to safely violate a right-of-way system of rules is described. The method may comprise, amongst other things, providing a roadway system, wherein the movements of vehicles within the roadway system are governed by a right-of-way system of rules; controlling a traffic control system including a plurality of traffic control signals in a manner that causes the plurality of traffic control signals to change in accordance with default control pattern for implementing the right-of-way system of rules; and modifying the default control pattern. By doings so, the method may permit a target vehicle to safely violate the right-of-way system of rules. Similarly, by doing so, the method may prevent a plurality of secondary vehicles from traveling along or through a predicted path of the target vehicle.