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If you arrive on time you're already late. I think a lot of problems arise from people trying to optimise their journey time so they can leave at the last minute. Any small inconvenience then leads to road rage.

> discontinuities like beating traffic lights

Sometimes you beat them, sometimes you don't. It's not always in your favor, it averages out.

The average of gain and neutral should still be a gain.

This is only true if they are random, which they aren't.

You can also pay attention to them, and learn the cycle lengths, timing patterns, and pedestrian patterns.

If you are almost late and driving then you are late. Do better next time.