one thing you do when you Driving is Steer. one thing you do when you Driving is Following. Following is a form of Follow. Follow is related to Rule. 
Pleasant is related to Pretty. Pretty is a synonym of Beautiful. Beautiful is related to Design. 
Steer <--HasSubevent-- Driving --HasSubevent--> Following --FormOf--> Follow <--RelatedTo--> Rule 
Pleasant <--RelatedTo--> Pretty <--Synonym--> Beautiful <--RelatedTo--> Design 