function vehicleScenarioAnalsys(sc, ts, xs, us, vV)
d_C = .5;
t_buffer_C = 2;

d_T = 1; 
t_buffer_T = 2;
        
a_buffer_B = -.5;


len = size(xs,1);
ds = zeros(1,len);
for i = 1:len
    ds(i) = sc.distHeroFrontToVehicle(xs(i,:),ts(i));
end

vs = xs(:,4);
vmax = max(vs);
vmin = min(vs);
dmax = max(ds);

figure
hold on
plot(ds,vs, 'b')
vrange = 0:.1:vmax;
plot(t_buffer_T*vrange + d_T,vrange, 'Color',[.7,.7,0])
xlabel('d(H,V)')
ylabel('V_H')

figure
hold on
plot(ds,vs-vV, 'b')
vdiffrange = 0:.1:vmax-vV;
plot(t_buffer_C*(vdiffrange) + d_C,vdiffrange, 'r')
plot([d_C, d_C], [vmin-vV,0], 'r')
xlabel('d(H,V)')
ylabel('V_H - v_V')

figure
hold on
plot(ts,us(:,1),'Color',[0,.7,0])
plot([ts(1),ts(end)],[a_buffer_B,a_buffer_B],'Color',[0,.5,0],'LineStyle','--')
xlabel('t')
ylabel('a_H-a_V')

% figure
% hold on
% plot(ds,vs, 'b')
% vrange = 0:.1:vmax
% plot(vrange/t_buffer_T + d_C,vrange)


% if velocity_diff <= 0
%     is_in = distance_diff < obj.d_C;
% else
%     is_in = distance_diff - obj.t_buffer_C*velocity_diff < obj.d_C;
% end
