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

% Generated by MATLAB(R) 9.10 (R2021a) and Automated Driving Toolbox 3.3 (R2021a).
% Generated on: 13-Dec-2020 21:42:43

% 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, 'Name', 'Road');

roadCenters = [105 75 0;
    105 -20 0];
laneSpecification = lanespec([2 2]);
road(scenario, roadCenters, 'Lanes', laneSpecification, 'Name', 'Road1');

% Add the ego vehicle
egoVehicle = vehicle(scenario, ...
    'ClassID', 1, ...
    'Position', [56 19 0], ...
    'Mesh', driving.scenario.carMesh, ...
    'Name', 'egoVehicle');
waypoints = [56 19 0;
    135 19 0];
speed = egoSpeed;
smoothTrajectory(egoVehicle, waypoints, egoSpeed);

% Add the non-ego actors
otherVehicle = vehicle(scenario, ...
    'ClassID', 1, ...
    'Position', [103 73 0], ...
    'Mesh', driving.scenario.carMesh, ...
    'Name', 'otherVehicle');
waypoints = [103 73 0;
    102.8 34.3 0;
    114.3 22.4 0;
    148.1 22.4 0];
speed = [11;10;10;11];
yaw =  [-90;-90;0;0];
smoothTrajectory(otherVehicle, waypoints, speed, 'Yaw', yaw);