How can I use "Adaptive Cruise Control with Sensor Fusion example" for autonomous vehicle in the non-signalize intersection?

Goals: I would like to use Adaptive cruise control in intersection. The ego car will turn left and calculate distance of the other vehicles. The ego car will be controlled acceleration depending on relative distance.

Problems: Ego car don't move, The road boundaries moving, The sensor can't detect the surrounding vehicles.

⦁ Firstly, I used automated driving toolbox to design scenarios, edit setup script (helperACCSetUp.m)), and edit scenario (helperScenarioAuthoring.m)

⦁ Seccondly, I save "ACCscenario.mat" including Roadboudaries, and vehiclepose of road and surrounding vehcles.

⦁ Finally, I run simualtion.

I bought Automated driving toolbox license and I will intend to buy other licenses.

I hope someone can help me solve this problem. Thank you so much.