Description

Adjusting Acc, CollisionCheck, Overtake Behavior, motion planing for Overtaking.

Fixes # (issue)

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?

Most important changes

Overtaking behavior, integrating perception into local planning (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
[ ] I have made corresponding changes to the documentation
[x] My changes generate no new warnings

Simulation results

Metric	Value
Avg. driving score	0.643204
Avg. route completion	4.27
Avg. infraction penalty	0.214398
Collisions with pedestrians	0.0
Collisions with vehicles	7.621
Collisions with layout	1.524
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	0.0
Agent blocked	3.048
Yield emergency vehicles infractions	0.0
Scenario timeouts	3.048
Min speed infractions	0.0

Metric

Value

Avg. driving score

0.643204

Avg. route completion

4.27

Avg. infraction penalty

0.214398

Collisions with pedestrians

0.0

Collisions with vehicles

7.621

Collisions with layout

1.524

Red lights infractions

0.0

Stop sign infractions

0.0

Off-road infractions

Route deviations

0.0

Route timeouts

0.0

Agent blocked

3.048

Yield emergency vehicles infractions

0.0

Scenario timeouts