The error is occurring because you are overwriting the variable y in your self_driving_car_ode function. In the function definition, you have y as an input argument and then you are using it as a local variable. Therefore, when you try to access y(3) to get the value of theta, you are actually accessing the local variable y, which only has one element, causing the indexing error.
To fix this, you can change the name of the local variable in the self_driving_car_ode function. For example, you can change the line:
y = y(2);
to:
pos_y = y(2);
And then access the value of theta using y(3).
Alternatively, you can change the name of the input argument y in the function definition to avoid the conflict with the local variable. For example:
function dydt = self_driving_car_ode(t, state, L, m, Cf, Cr, Iz, obstacles)
% State variables
x = state(1);
y = state(2);
theta = state(3);
v = state(4);
phi = state(5);
% rest of the codeend
end
Then you can use state(3) to get the value of theta without any conflicts.
