  We investigate the collective behavior of self-propelled particles (SPPs)
undergoing competitive processes of pattern formation and rotational relaxation
of their self-propulsion velocities. In full accordance with previous work, we
observe transitions between different steady states of the SPPs caused by the
intricate interplay among the involved effects of pattern formation,
orientational order, and coupling between the SPP density and orientation
fields. Based on rigorous analytical and numerical calculations, we prove that
the rate of the orientational relaxation of the SPP velocity field is the main
factor determining the steady states of the SPP system. Further, we determine
the boundaries between domains in the parameter plane that delineate
qualitatively different resting and moving states. In addition, we analytically
calculate the collective velocity $\vec{v}$ of the SPPs and show that it
perfectly agrees with our numerical results. We quantitatively demonstrate that
$\vec{v}$ does not vanish upon approaching the transition boundary between the
moving pattern and homogeneous steady states.
