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You are allowed to stop on a motorway when you

A are told to do so by flashing red lights
Explaination
You MUST stop if there are red lights flashing above every lane on the motorway. However, if any of the other lanes do not show flashing red lights or red cross you may move into that lane and continue if it is safe to do so.
B need to walk and get fresh air
C wish to pick up hitchhikers
D need to use a mobile telephone