[Vehicle Dynamic Blockset] Making velocity references & responding to traffic signs

I have drawn waypoints an in-built track, and exported the reference (X,Y) and angle.

On that track, I am trying to export the vehicle velocity with any naturalistic driving modes. (I am trying to use the result for building Drive Cycle Sourse.)

I have read almost all help center documents, however, I couldn't find the proper function/tool to do that.

Are there any suggestions for this?

Also, the track I'm using has many traffic signs, and I want to make a car to follow the traffic rules.

It seems like there is a function that detects traffic signs through lidar. Using that function, I guess, there could be a way to use the information for vehicle control. Are there any ways to do this?

Thank you.