140 feature create an integrated acc with the collision node

[samuelkuehnel]

Description

In this PR a node for the collision check and ACC are created, as well as a test node to simulate them independently. The Collision Check detects collision based on the minimum distance to an object in front and the ACC publishes a speed to keep the distance to this object.

Fixes #140

Type of change

Please delete options that are not relevant. __

• New feature (non-breaking change which adds functionality)

Does this PR introduce a breaking change?

No

Most important changes

New Collision Check

Checklist:

• [x] My code follows the style guidelines of this project
• [x] I have performed a self-review of my own code
• [x] I have commented my code, particularly in hard-to-understand areas
• [x] I have made corresponding changes to the documentation
• [x] My changes generate no new warnings
• [x] I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
• [x] New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.006825
Avg. route completion	0.015
Avg. infraction penalty	0.455
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	930.763
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	930.763
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	930.763
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.006825
Avg. route completion	0.015
Avg. infraction penalty	0.455
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	930.763
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	930.763
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	930.763
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.008808
Avg. route completion	0.035
Avg. infraction penalty	0.336384
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	620.596
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.002
Route deviations	0.0
Route timeouts	206.865
Agent blocked	206.865
Yield emergency vehicles infractions	0.0
Scenario timeouts	206.865
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.005892
Avg. route completion	0.02
Avg. infraction penalty	0.348058
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	709.196
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.001
Route deviations	0.0
Route timeouts	709.196
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	709.196
Min speed infractions	0.0