Continuous Change Speed Action

How do we express the intent to change speed to match another vehicle's speed and then to keep that relative speed? Does that require two actions as shown below

serial:
    blue.drive() with:
        speed(2mps, slower_than: yellow, at: end, track: actual, shape: speed_shape_1)
    blue.drive() with:
        speed(2mps, slower_than: yellow, at: all, track: actual)

or can we just use single action as shown below?

blue.drive() with:
     speed(2mps, slower_than: yellow, at: all, track: actual,  shape: speed_shape_1)