-
Notifications
You must be signed in to change notification settings - Fork 6
/
silverstoneTest.m
630 lines (597 loc) · 21.5 KB
/
silverstoneTest.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
function [scenario, testName, trackWidth] = silverstoneTest()
% createDrivingScenario Returns the drivingScenario defined in the Designer
% Generated by MATLAB(R) 9.10 (R2021a) and Automated Driving Toolbox 3.3 (R2021a).
% Generated on: 07-Aug-2021 22:01:57
% Construct a drivingScenario object.
testName = 'Silverstone Circuit';
trackWidth = 13;
scenario = drivingScenario('GeographicReference', [52.07125 -1.01685 0], ...
'VerticalAxis', 'Y');
% Add all road segments
roadCenters = [-196.109 649.435 -0.0360871;
-198.2 648.367 -0.0360429;
-202.184 646.008 -0.0359282;
-203.733 644.873 -0.0358625;
-205.667 643.26 -0.0357614;
-207.202 641.825 -0.0356664;
-209.959 638.821 -0.0354546;
-211.282 637.23 -0.035339;
-212.989 635.182 -0.0351913;
-214.367 633.135 -0.0350338;
-215.752 630.709 -0.0348399;
-216.959 627.939 -0.0346073;
-218.296 624.512 -0.0343162;
-219.263 620.729 -0.0339798;
-219.709 617.168 -0.0336494;
-225.82 552.888 -0.0279638;
-227.13 545.3 -0.0273566;
-229.283 538.49 -0.0268547;
-230.977 534.974 -0.0266196;
-233.013 531.503 -0.0264032;
-235.441 527.898 -0.0261926;
-238.238 524.182 -0.0259896;
-240.96 521.033 -0.0258336;
-244.135 518.251 -0.0257273;
-248.283 514.824 -0.0256094;
-251.17 512.722 -0.0255528;
-253.768 511.03 -0.0255196;
-256.01 509.962 -0.0255235;
-258.437 508.917 -0.0255376;
-261.728 507.47 -0.0255562;
-265.424 506.135 -0.0256025;
-268.749 505.334 -0.0256779;
-271.814 504.956 -0.0257776;
-275.407 504.6 -0.0259032;
-279.452 504.378 -0.0260612;
-282.983 504.512 -0.0262271;
-286.911 504.957 -0.0264375;
-290.223 505.647 -0.0266417;
-293.959 506.849 -0.0269079;
-297.47 508.14 -0.0271731;
-301.59 509.965 -0.0275119;
-306.348 512.424 -0.0279354;
-309.975 514.783 -0.0283003;
-313.088 517.131 -0.0286421;
-315.549 519.468 -0.0289531;
-317.88 521.905 -0.0292676;
-320.115 524.654 -0.0296048;
-323.124 528.815 -0.0301001;
-324.166 530.54 -0.0302961;
-326.038 533.711 -0.030656;
-327.704 536.972 -0.031015;
-328.841 539.954 -0.0313253;
-329.856 542.535 -0.0315967;
-330.672 545.028 -0.0318515;
-331.33 547.208 -0.0320724;
-331.81 549.478 -0.0322925;
-332.317 552.015 -0.032538;
-332.652 555.22 -0.0328338;
-332.872 557.557 -0.0330491;
-332.803 560.316 -0.0332875;
-332.652 562.742 -0.0334933;
-332.405 565.423 -0.0337177;
-331.904 568.95 -0.0340055;
-331.02 572.611 -0.0342873;
-330.018 576.539 -0.0345895;
-327.947 581.535 -0.0349367;
-325.986 585.507 -0.0351999;
-309.413 618.019 -0.0374449];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Brooklands-Luffield');
roadCenters = [-309.413 618.019 -0.0374449;
-290.337 656.995 -0.0404475;
-275.938 686.235 -0.04289;
-269.356 699.554 -0.0440568;
-267.628 702.803 -0.0443415;
-265.681 706.475 -0.0446661;
-263.631 709.735 -0.0449433;
-261.649 712.839 -0.0452082;
-258.063 718.369 -0.0456832;
-254.628 723.176 -0.0460888;
-251.481 726.981 -0.046397;
-246.414 732.822 -0.0468684;
-240.538 739.454 -0.0474103;
-234.553 746.118 -0.0479644;
-229.308 751.904 -0.0484538;
-224.138 756.978 -0.0488708;
-211.592 768.271 -0.0497941;
-197.921 779.108 -0.0506713;
-191.449 783.892 -0.0510606;
-185.909 787.864 -0.0513867;
-181.473 791.013 -0.0516492;
-171.196 797.155 -0.0521306;
-161.584 802.351 -0.0525322;
-154.708 805.421 -0.0527493;
-148.119 808.069 -0.0529283;
-139.371 811.018 -0.0531059;
-128.703 814.044 -0.0532679;
-120.243 816.147 -0.053372;
-112.311 817.682 -0.0534244;
-103.433 819.128 -0.0534602;
-94.4176 820.441 -0.0534895;
-82.8587 821.832 -0.0535083;
-66.5626 823.745 -0.0535648;
-23.7758 828.007 -0.0538144;
109.507 840.659 -0.0563642;
283.079 854.641 -0.063554;
302.358 855.388 -0.064537];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'National Pit Straight-Copse-169609611-Woodcote');
roadCenters = [302.358 855.388 -0.064537;
307.753 855.589 -0.0648214;
312.257 855.489 -0.0650265;
317.193 855.155 -0.0652248;
321.835 854.299 -0.065342;
329.424 852.218 -0.0654503;
335.601 849.86 -0.0654568;
341.669 847.234 -0.0654288;
348.689 843.763 -0.0653476;
356.519 838.924 -0.0651409;
365.775 831.603 -0.0647047;
371.884 825.784 -0.0643008;
375.771 821.389 -0.0639605;
379.494 816.694 -0.0635772;
382.607 811.976 -0.0631602;
385.583 807.081 -0.0627174;
388.497 801.395 -0.0621766];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Copse');
roadCenters = [388.497 801.395 -0.0621766;
393.791 787.821 -0.0608087;
398.762 773.757 -0.0593945;
402.836 762.463 -0.0582892;
406.052 751.593 -0.0572019;
410.633 735.771 -0.0556489;
421.53 697.183 -0.0520217;
428.876 666.708 -0.0492505;
432.168 649.762 -0.0477226;
436.647 626.818 -0.0457299;
440.516 602.618 -0.0436619;
442.108 589.21 -0.0425185;
443.357 575.724 -0.041373];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Copse-169730587');
roadCenters = [450.057 479.756 -0.033897;
452.111 434.069 -0.0307676;
453.569 388.727 -0.0279449;
454.057 376.465 -0.0272437;
454.661 364.927 -0.0266157;
455.265 358.34 -0.0262851;
456.102 351.83 -0.0259822;
457.364 345.143 -0.0257069;
459.093 337.421 -0.0254174;
461.562 328.987 -0.0251545;
463.427 324.003 -0.0250342;
465.889 318.006 -0.0249112;
468.907 311.063 -0.0247893;
472.041 304.209 -0.0246893;
474.434 299.224 -0.0246306;
476.917 295.007 -0.0246188;
480.297 289.155 -0.0246038;
483.856 283.814 -0.0246323;
493.581 268.794 -0.0247249;
496.296 263.876 -0.0247297;
498.21 258.958 -0.0246769;
500.02 253.584 -0.0246023;
500.741 250.658 -0.0245429;
501.276 247.487 -0.024461;
501.653 244.727 -0.0243841;
501.935 241.211 -0.0242722;
501.983 238.541 -0.0241755;
502.065 235.67 -0.0240752;
501.867 231.898 -0.0239213;
501.579 229.05 -0.0237957;
501.202 226.413 -0.023672;
500.64 223.597 -0.0235286;
499.557 219.603 -0.023305;
498.118 214.896 -0.0230322;
497.097 211.58 -0.0228418;
495.109 205.95 -0.0225032];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', '169730586-Maggotts-169730587');
roadCenters = [443.357 575.724 -0.041373;
445.059 556.241 -0.0397616;
446.438 537.637 -0.0382617;
448.237 510.254 -0.0361372;
450.057 479.756 -0.033897];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', '169730587');
roadCenters = [495.109 205.95 -0.0225032;
488.158 188.09 -0.0214166;
481.824 170.721 -0.0204471;
477.451 158.748 -0.0198096;
474.394 150.436 -0.0193804;
472.063 144.305 -0.0190661;
468.772 134.924 -0.0186185;
467.977 131.853 -0.018496;
466.929 127.324 -0.0183272;
465.585 121.038 -0.0181067;
464.667 115.174 -0.0179313;
463.804 108.486 -0.0177513;
463.283 102.467 -0.0176139;
463.023 96.0464 -0.0174951;
463.188 90.6499 -0.0174281;
463.847 83.8737 -0.0173831;
464.671 78.7999 -0.0173782;
466.283 72.3465 -0.0174191;
468.148 66.6497 -0.0174933;
469.726 62.1212 -0.0175634;
472.195 56.7027 -0.0176948;
475.349 51.3843 -0.0178835;
477.701 47.9241 -0.018032;
481.357 43.0954 -0.0182717;
498.597 21.1104 -0.0194827;
503.72 15.0801 -0.0198672;
505.983 12.1429 -0.0200397;
508.609 8.46014 -0.0202422;
510.612 5.22242 -0.0203984;
512.752 0.293438 -0.0205676;
514.844 -5.50345 -0.0207382;
515.783 -8.69676 -0.0208175;
517.039 -13.3032 -0.0209268;
518.082 -20.3018 -0.0210297;
518.411 -24.6413 -0.0210718;
518.48 -28.6247 -0.021094;
518.364 -33.1979 -0.0211068;
517.994 -37.5596 -0.021101;
517.275 -43.29 -0.0210791;
516.178 -47.9968 -0.0210241;
514.512 -53.1042 -0.0209303;
512.497 -57.7777 -0.020809;
510.125 -62.34 -0.0206622;
506.224 -69.3948 -0.020425;
503.447 -73.1894 -0.0202481;
499.601 -77.5737 -0.0199981;
495.515 -81.8357 -0.0197333;
487.506 -88.4348 -0.0192055;
487.013 -88.7797 -0.0191727];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', '169730586-Chapel Curve-Becketts');
roadCenters = [479.176 -94.3884 -0.0186609;
475.528 -96.1357 -0.0184146;
471.846 -97.7828 -0.0181668;
467.588 -99.2409 -0.0178764;
463.446 -100.643 -0.0175967;
457.59 -101.912 -0.0171949;
451.673 -102.48 -0.0167831;
438.645 -104.061 -0.0159013;
432.446 -105.13 -0.0154965;
426.83 -106.332 -0.0151389;
422.147 -108.469 -0.0148639;
418.794 -110.305 -0.0146748;
416.01 -111.819 -0.0145194;
413.274 -114.089 -0.0143821;
411.032 -116.081 -0.0142735;
408.578 -119.274 -0.014175];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', '227332428');
roadCenters = [487.013 -88.7797 -0.0191727;
483.118 -91.5507 -0.0189163;
479.176 -94.3884 -0.0186609];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Chapel Curve');
roadCenters = [408.578 -119.274 -0.014175;
397.478 -141.451 -0.0139286;
382.689 -166.988 -0.0136438];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', '227332428');
roadCenters = [374.88 -180.887 -0.0135601;
303.855 -310.352 -0.0147769];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Hangar Straight');
roadCenters = [382.689 -166.988 -0.0136438;
379.117 -172.897 -0.0135884;
374.88 -180.887 -0.0135601];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Chapel Curve');
roadCenters = [303.855 -310.352 -0.0147769;
247.63 -417.685 -0.0184798;
169.652 -564.908 -0.0272798;
142.127 -615.492 -0.0312913;
129.488 -639.159 -0.0333517;
116.308 -662.937 -0.0355265;
112.05 -670.036 -0.0361926;
103.745 -684.168 -0.0375533;
97.8135 -694.16 -0.0385399;
93.7401 -700.702 -0.0391946;
89.9683 -706.644 -0.0397962;
82.1986 -719.151 -0.0410901;
75.0528 -730.345 -0.0422747;
63.086 -748.348 -0.0442333;
53.6154 -762.268 -0.045796;
48.8355 -769.322 -0.0466051;
44.7619 -775.342 -0.0473045;
35.1951 -788.761 -0.0488908;
29.2973 -796.772 -0.0498573;
22.5148 -806.497 -0.0510526;
15.3277 -816.222 -0.052269;
10.0813 -823.043 -0.0531355;
6.59057 -827.271 -0.0536782];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Hangar Straight-Stowe');
roadCenters = [6.59057 -827.271 -0.0536782;
2.57176 -831.722 -0.0542544;
-0.582934 -834.96 -0.0546772;
-3.53189 -837.697 -0.0550372;
-7.17352 -840.724 -0.0554386;
-9.57384 -842.626 -0.055693;
-12.2828 -844.729 -0.0559759];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Stowe');
roadCenters = [-12.2828 -844.729 -0.0559759;
-15.2866 -847.133 -0.0563013;
-18.9488 -849.503 -0.0566265;
-23.674 -851.728 -0.0569391;
-29.1674 -854.176 -0.0572893;
-33.5565 -855.867 -0.0575377;
-38.5081 -857.269 -0.057754;
-43.2127 -858.504 -0.0579503;
-49.4536 -859.528 -0.0581334;
-53.8359 -859.939 -0.0582244;
-58.0811 -860.273 -0.0583065;
-61.9079 -860.462 -0.058368;
-66.8045 -860.407 -0.0584098;
-74.4307 -859.761 -0.058407;
-80.0612 -858.76 -0.05834;
-85.4036 -857.28 -0.05821;
-90.5951 -855.666 -0.0580647;
-95.6426 -853.763 -0.0578831;
-101.074 -851.504 -0.0576646;
-107.301 -848.266 -0.0573345;
-112.239 -845.251 -0.0570188;
-116.724 -841.98 -0.0566662;
-119.659 -839.732 -0.056424;
-122.457 -837.217 -0.0561463;
-126.051 -833.768 -0.0557641;
-128.952 -831.042 -0.055466;
-132.045 -827.281 -0.05504;
-134.52 -824.143 -0.0546852;
-137.195 -820.304 -0.054247;
-140.24 -815.541 -0.053702;
-142.434 -811.692 -0.0532592;
-145.122 -806.128 -0.0526138;
-148.091 -798.762 -0.0517547;
-150.697 -791.952 -0.0509661;
-153.447 -785.799 -0.0502701;
-156.176 -779.368 -0.0495467;
-158.954 -773.871 -0.0489456;
-161.731 -768.452 -0.0483598;
-164.474 -763.256 -0.0478055;
-167.793 -756.924 -0.047137;
-171.373 -750.604 -0.0464847;
-175.755 -743.038 -0.0457173;
-181.227 -734.125 -0.0448376;
-194.949 -713.106 -0.0428556];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Stowe-Vale');
roadCenters = [-194.949 -713.106 -0.0428556;
-199.324 -706.552 -0.0422608;
-204.728 -698.874 -0.0415854;
-212.182 -688.737 -0.0407253;
-216.762 -682.951 -0.0402565;
-220.815 -677.721 -0.0398372;
-225.766 -671.579 -0.0393601;
-230.422 -666.36 -0.0389787;
-241.819 -653.731 -0.0380922;
-246.723 -648.902 -0.0377862;
-279.137 -614.607 -0.0357212;
-301.705 -589.192 -0.0343471];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Vale');
roadCenters = [-301.705 -589.192 -0.0343471;
-337.142 -547.174 -0.0323735;
-351.961 -529.704 -0.0316968;
-355.094 -526.577 -0.0316111;
-358.722 -524.174 -0.0316156;
-362.253 -522.749 -0.0316978;
-366.759 -522.348 -0.0319219;
-371.038 -522.96 -0.032219;
-375.07 -524.195 -0.0325558;
-378.966 -526.175 -0.0329487;
-382.861 -529.313 -0.0334405;
-405.006 -551.498 -0.036686;
-407.002 -553.044 -0.0369467;
-410.753 -555.603 -0.0374092;
-415.938 -557.416 -0.0379028;
-422.83 -558.451 -0.0384455;
-425.415 -558.417 -0.0386141;
-429.269 -558.328 -0.038864;
-434.028 -557.281 -0.0390939];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Club-Vale');
roadCenters = [-434.028 -557.281 -0.0390939;
-438.245 -555.579 -0.039233;
-442.25 -553.475 -0.0393259;
-446.892 -549.792 -0.0393301;
-452.783 -543.961 -0.0392445;
-461.752 -534.535 -0.0390889;
-469.932 -525.044 -0.0388963;
-477.454 -515.629 -0.0386854;
-479.854 -512.447 -0.0386086];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Club');
roadCenters = [-479.854 -512.447 -0.0386086;
-485.764 -503.612 -0.038351;
-490.392 -495.299 -0.0380532;
-496.083 -484.328 -0.0376494;
-501.142 -472.588 -0.0371631;
-505.256 -460.482 -0.0366009;
-507.922 -450.768 -0.0361181;
-510.363 -440.487 -0.0355938;
-511.13 -435.546 -0.0353157;
-511.939 -430.606 -0.0350448;
-512.877 -422.539 -0.0345803;
-512.479 -415.473 -0.0340839;
-511.505 -409.687 -0.0336314;
-509.714 -404.614 -0.0331644;
-507.238 -400.408 -0.0327019;
-503.603 -395.468 -0.0321061;
-495.744 -385.599 -0.0308871;
-494.434 -383.886 -0.0306822];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Club');
roadCenters = [-494.434 -383.886 -0.0306822;
-490.621 -379.013 -0.0300968;
-260.635 -78.2818 -0.00579477;
-223.611 -30.3491 -0.00398387;
-216.219 -20.6802 -0.00369082;
-208.93 -11.8346 -0.00342583];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Hamilton Straight-Club-Abbey');
roadCenters = [-208.93 -11.8346 -0.00342583;
-205.344 -7.7512 -0.00330333;
-203.431 -5.90421 -0.00324018;
-201.463 -4.34653 -0.00317659;
-198.562 -2.46621 -0.00308482;
-195.367 -0.719415 -0.00298591;
-191.918 0.84934 -0.00288143;
-188.51 2.44035 -0.00278042;
-185.534 3.44166 -0.0026938;
-181.509 4.49856 -0.00257888;
-177.388 5.58885 -0.00246404;
-173.39 6.33421 -0.00235504;
-167.85 7.20191 -0.00220806;
-161.425 8.03622 -0.00204356;
-155.836 8.54787 -0.00190553;
-151.085 8.84815 -0.00179184;
-144.372 8.91472 -0.00163678;
-134.662 8.79205 -0.00142467;
-129.293 8.44697 -0.00131334;
-123.897 7.8126 -0.00120564;
-111.877 6.1878 -0.000982155;
-98.65 4.07341 -0.000762615;
-82.6735 1.80324 -0.000534945;
-40.3186 -4.95129 -0.00012909;
-27.6676 -6.8652 -6.35799e-05;
-20.7216 -7.45496 -3.79473e-05;
-13.659 -7.76654 -1.93254e-05;
-6.07522 -7.68866 -7.52287e-06;
2.76333 -6.82077 -4.2445e-06;
10.4019 -5.99737 -1.12842e-05;
17.9856 -4.62875 -2.69849e-05;
25.2128 -2.70377 -5.0301e-05;
32.2274 -0.712015 -8.12884e-05;
37.5758 0.968179 -0.000110527;
45.0635 3.81672 -0.000160004;
51.7009 6.82104 -0.000212754;
59.3943 10.7489 -0.00028503;
66.7654 15.3667 -0.000367235;
78.4493 24.1682 -0.000527256];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Farm Curve-169800226-Abbey');
roadCenters = [78.4493 24.1682 -0.000527256;
218.777 136.387 -0.0052032;
224.056 139.347 -0.0054501;
227.601 140.86 -0.00560861;
230.55 141.728 -0.00573352;
233.519 142.174 -0.00585122;
236.803 142.507 -0.00597952;
239.765 142.641 -0.00609294;
242.227 142.419 -0.00618078;
244.956 141.74 -0.00626966;
248.048 140.472 -0.00636086;
250.564 139.114 -0.00642925;
253.006 137.501 -0.00649042;
255.344 135.632 -0.00654336;
257.524 133.618 -0.00658832;
259.876 129.813 -0.0066049;
261.522 125.551 -0.00658669;
266.988 109.017 -0.00650849;
290.209 33.5115 -0.00667666;
290.998 31.453 -0.00670203;
291.876 29.7173 -0.00673373;
292.795 28.1596 -0.00676869;
293.885 26.5351 -0.00681176;
295.565 24.4545 -0.00688091;
297.615 22.3183 -0.00696822;
299.707 20.5492 -0.00706;
302.107 19.0139 -0.00716823];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'The Loop-Village-169800225');
roadCenters = [302.107 19.0139 -0.00716823;
304.589 17.6343 -0.00728207;
306.982 16.5329 -0.00739362;
310.102 15.7987 -0.00754237;
312.68 15.4317 -0.00766708;
314.998 15.5319 -0.00778112;
317.795 15.9661 -0.00792068;
320.147 16.7785 -0.00804014;
323.054 18.1473 -0.00819017;
326.106 20.1837 -0.00835124;
329.28 23.1103 -0.00852394;
331.755 26.1258 -0.00866358;
333.963 29.5085 -0.00879331;
337.329 35.4728 -0.00900049;
339.393 39.0224 -0.00913048];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'The Loop');
roadCenters = [339.393 39.0224 -0.00913048;
341.573 43.7514 -0.00927732;
343.616 48.5584 -0.00942163;
346.331 55.1012 -0.00962135;
348.593 60.8428 -0.00979655;
352.021 69.3885 -0.0100717;
355.524 79.937 -0.0103891;
358.225 89.3617 -0.0106651;
361.145 99.9324 -0.0109864;
363.853 111.26 -0.0113275;
366.135 121.675 -0.0116482;
367.959 132.312 -0.0119648;
369.384 144.218 -0.0123052;
370.446 156.124 -0.0126471;
370.953 163.991 -0.012874;
371.137 170.845 -0.0130647;
371.294 178.812 -0.0132923;
370.93 184.597 -0.0134361;
370.045 190.484 -0.0135579;
368.646 195.791 -0.0136379;
366.952 200.531 -0.0136877;
365.039 204.013 -0.0136887;
362.982 207.318 -0.0136781;
359.889 210.812 -0.0136178;
349.851 220.48 -0.0133874];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Aintree-The Loop');
roadCenters = [349.851 220.48 -0.0133874;
332.619 235.778 -0.0130149;
311.04 256.762 -0.0127389;
291.368 274.831 -0.0125652;
271.695 292.633 -0.0124909;
133.938 418.139 -0.0151158;
66.4643 479.079 -0.0183463];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Wellington Straight');
roadCenters = [66.4643 479.079 -0.0183463;
28.5834 513.65 -0.0207562];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Wellington Straight');
roadCenters = [20.4451 520.994 -0.0213209;
-46.8751 581.346 -0.0266779;
-112.391 639.318 -0.0330441;
-118.472 643.847 -0.0336097;
-123.086 646.762 -0.033992;
-127.069 648.799 -0.0342768;
-131.649 650.857 -0.0345793;
-136.523 652.805 -0.0348807;
-141.227 654.196 -0.0351255;
-145.128 655.275 -0.0353237;
-148.521 655.987 -0.0354749];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Brooklands-Wellington Straight');
roadCenters = [28.5834 513.65 -0.0207562;
20.4451 520.994 -0.0213209];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Wellington Straight');
roadCenters = [-148.521 655.987 -0.0354749;
-151.133 656.488 -0.0355877;
-156.248 656.978 -0.0357612;
-161.383 657.011 -0.0358922;
-166.518 657.034 -0.0360262;
-171.599 656.678 -0.036124;
-176.727 655.921 -0.0361858;
-181.684 654.942 -0.0362242;
-186.517 653.44 -0.0362093;
-191.378 651.705 -0.0361753;
-196.109 649.435 -0.0360871];
laneSpecification = lanespec(1, 'Width', 13);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Brooklands');