If you're trying to do several things at once, you can't use delay().
You need to store the list of commands (forward for 1 second, pause for 0.5 second...) in an array. Probably two arrays, to keep the actions and times separated. Then your main loop runs thousands of times per second, checking if it's time to do anything: is it time to turn the LED on? is it time to move to the next action in the list?