It is my understanding that you want to know how to include deep learning model into Simulink and where to use deep learning models in controlling vehicle maneuver.
To integrate deep learning model with Simulink refer the link.
You could apply deep learning model in lane, vehicle and surrounding detection. Refer to following links for more examples related to controlling vehicle maneuver using deep learning model
First try the general machine learning algorithms to classify such as Support Vector Machines. The following example would be similar to what you want to do:
If you are not satisfied with your classification results, and you have a lot of image data, consider to use Deep Learning. The easiest way to get started is to use the pre-trained model such as alexnet:
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