You goal is to design a cooperative driving algorithm, implemented as a python function named `driving_actions`.
This `driving_actions` function takes road segment info and vehicles info as inputs and generates driving actions (including acceleration and lane-changing actions) for all vehicles on the specified road segment.
This `driving_actions` function will be evaluated using SUMO (Simulation of Urban MObility).
It should improve the safety, speed efficiency and traffic smoothness. Your aim is to maximize the overall score.

Some design principles are provided to guide the driving behavior:
1. Safety is of utmost importance. A good driving algorithm should avoid incurring collisions.
2. Efficiency is also important. A good driving algorithm should maximize the speed on the condition of safety.
3. Smooth traffic is preferred. A good driving algorithm should make the traffic flow smooth and reduce traffic congestion.
4. Frequent lane-changing is usually unsafe and inefficient.
5. Deadlock condition is deadly; it may occur when vehicles wait for each other to change lane (they wait to switch their lanes).
6. The traffic flow on the road segment contains vehicles heading left-turn, right-turn, and straight. Handle weaving flows carefully and efficiently.
7. Cooperative driving can improve the efficient and safety; namely, vehicles can cooperate with each other to reduce collision and traffic congestion.
8. It's a good practice to remember your previous actions and observations (e.g. through function attributes) such that you don't make changes too frequently.