def after_reset(self):
        """
        Create vehicle and use IDM for controlling it. When there are objects in front of the vehicle, it will yield
        """
        self.arrive_dest = False
        path_to_follow = []
        for lane_index in ["lane_4_0", "lane_:306_0_0", "lane_22_0"]:
            path_to_follow.append(self.engine.current_map.road_network.get_lane(lane_index).get_polyline())
        path_to_follow = np.concatenate(path_to_follow, axis=0)

        self.generated_v = self.spawn_object(
            SVehicle, vehicle_config=dict(), position=path_to_follow[60], heading=-np.pi
        )
        TrajectoryIDMPolicy.NORMAL_SPEED = 20
        self.add_policy(
            self.generated_v.id,
            TrajectoryIDMPolicy,
            control_object=self.generated_v,
            random_seed=0,
            traj_to_follow=PointLane(path_to_follow, 2)
        )

        Create vehicle and use IDM for controlling it. When there are objects in front of the vehicle, it will yield
        
metadrive/tests/vis_env/vis_sumo_map.py