It's a bit akin to yacht racing, albeit at different speeds.The yachting fraternity have clear rules for positioning and overtaking at all times, what can and cannot be done. If you follow the rules and get hit/touched then you are in the clear - likewise hit someone else by ignoring the rules and get penalised.
Boats also do things like cars, the comparative dynamics of speed/weight reduce the actual speed difference so as to make comparison possible. Boats luff up and have leeway, cars drift and have understeer, boats have "mast abeam" and "starboard" rules as well as "water!" or depth rules so why not apply "wheels ahead", "space on the straight" and "space on the corner" rules for cars. Such rules could more easily be monitored on a fixed road surface than they can be on a moving sea surface.