@classmethod
def make_on_lane(cls, road, lane_index, longitudinal, velocity=0):
    """
            Create a vehicle on a given lane at a longitudinal position.

        :param road: the road where the vehicle is driving
        :param lane_index: index of the lane where the vehicle is located
        :param longitudinal: longitudinal position along the lane
        :param velocity: initial velocity in [m/s]
        :return: A vehicle with at the specified position
        """
    lane = road.network.get_lane(lane_index)
    return cls(road, lane.position(longitudinal, 0), lane.heading_at(
        longitudinal), velocity)
