s?=?drivingScenario;
v1?=?vehicle（s‘Position‘[?6?0?0]‘Velocity‘[-3??0?0]‘Yaw‘?180）;

v2?=?vehicle（s‘Position‘[?0?10?0]‘Velocity‘[?0?-4?0]‘Yaw‘-90）;

plot（s）;%p1
set（gcf‘Name‘‘Scenario?Plot‘）
xlim（[-20?20]）;
ylim（[-20?20]）;

ap?=?actorPoses（s）;

v2TargetPoses?=?targetPoses（v2）;

chasePlot（v2）%p2
set（gcf‘Name‘‘Chase?Plot‘）


v1.Yaw?=?135;
updatePlots（s）;%p3

s?=?drivingScenario;
roadCenters?=?...
????[??0??40??49??50?100??50??49?40?-40?-49?-50?-100??-50??-49??-40????0
?????-50?-50?-50?-50???0??50??50?50??50??50??50????0??-50??-50??-50??-50
???????0???0?.45?.45?.45?.45?.45??0???0?.45?.45??.45??.45??.45????0????0]‘;
bankAngles?=?...
????[??0???0???9???9???9???9???9??0???0???9???9????9????9????9????0????0];

road（s?roadCenters?bankAngles?‘lanes‘?lanespec（2））;
plot（s）;%p4


rb?=?roadBoundaries（s）;


figure

outerBoundary?=?rb{1};
innerBoundary?=?rb{2};

plot3（innerBoundary（:1）innerBoundary（:2）innerBoundary（:3）‘r‘?...
??????outerBoundary（:1）outerBoundary（:2）outerBoundary（:3）‘g‘）
axis?equal


egoCar?=?vehicle（s‘Position‘[80?-40?.45]‘Yaw‘30）;

figure

rb?=?roadBoundaries（egoCar）;
outerBoundary?=?rb{1};
innerBoundary?=?rb{2};

plot3（innerBoundary（:1）innerBoundary（:2）innerBoundary（:3）‘r‘?...
??????outerBoundary（:1）outerBoundary（:2）outerBoundary（:3）‘g‘）
axis?equal
?
chasePlot（egoCar）;%p5
fastCar?=?vehicle（s）;

d?=?2.7/2;
h?=?.45/2;
roadOffset?=?[?0??0??0??0??d??0??0??0??0??0??0?-d??0??0??0??0
??????????????-d?-d?-d?-d??0??d??d??d??d??d??d??0?-d?-d?-d?-d
???????????????0??0??h??h??h??h??h??0??0??h??h??h??h??h??0??0]‘;

rWayPoints?=?roadCenters?+?roadOffset;
lWayPoints?=?roadCenters?-?roadOffset;

%?loop?around?the?track?four?times
rWayPoints?=?[repmat（rWayPoints（1:end-1:）51）;?rWay