function [scenario, egoVehicle] = LeftTurnScenarioNoSensorsModified(egoSpeed)
% createDrivingScenario Returns the drivingScenario defined in the Designer

% Generated by MATLAB(R) 9.7 (R2019b) and Automated Driving Toolbox 3.0 (R2019b).
% Generated on: 05-Jun-2019 13:57:29

% Construct a drivingScenario object.
scenario = drivingScenario('SampleTime', 0.04);

% Add all road segments
roadCenters = [150 24.2 0;
               54 24.2 0];
laneSpecification = lanespec([2 2]);
road(scenario, roadCenters, 'Lanes', laneSpecification);

roadCenters = [105 75 0;
               105 -20 0];
laneSpecification = lanespec([2 2]);
road(scenario, roadCenters, 'Lanes', laneSpecification);

% Add the ego vehicle
egoVehicle = vehicle(scenario, ...
    'ClassID', 1, ...
    'Position', [56 19 0]);
waypoints = [56 19 0;
             135 19 0];
trajectory(egoVehicle, waypoints, egoSpeed);

% Add the non-ego actors
otherVehicle = vehicle(scenario, ...
    'ClassID', 1, ...
    'Position', [103 73 0]);
waypoints = [103 73 0;
             103 52.1 0;
             103 42.5 0;
             103 34 0;
             105 26.9 0;
             109.1 22.9 0;
             114.9 22 0;
             119.7 22 0;
             129.2 22 0;
             135.3 22 0;
             144.5 22 0];
speed = [20;20;20;8;5;8;20;20;20;20;20];
trajectory(otherVehicle, waypoints, speed);