To run example execute:

[sc, t, x, u, z, bp] = runVehicleScenarioCEM('starttailgate.csv', 2.5, 5, 3)

arguments:
'starttailgate' is name of scenario (other options are slowvehicleahead and fastvehicleahead
2.5 is acceleration for initial knot placement
5.0 is desired velocity for 
3.0 is amount of time the vehicle must be stopped at stop signs.

outputs:
sc is the scene object
t is time vector
x is state trajectory
u is input trajectory
z is object for cem execution
bp is best parameters resulting from execution.