210 feature integrate new traffic light features

[JuliusMiller]

Description

Adds the feature to stop at a traffic light that is too close for the ego vehicle to see Fixes # (issue)

Type of change

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

Does this PR introduce a breaking change?

No

Most important changes

Changes in intersection behavior and in motion planning

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

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.0735
Avg. route completion	0.105
Avg. infraction penalty	0.7
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	0.0
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	118.142
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	118.142
Min speed infractions	0.0

[github-actions[bot]]

Simulation results

Metric	Value
Avg. driving score	0.012705
Avg. route completion	37.305
Avg. infraction penalty	0.001298
Collisions with pedestrians	0.85
Collisions with vehicles	7.48
Collisions with layout	4.08
Red lights infractions	0.17
Stop sign infractions	0.17
Off-road infractions	0.124
Route deviations	0.0
Route timeouts	0.0
Agent blocked	0.34
Yield emergency vehicles infractions	0.0
Scenario timeouts	0.17
Min speed infractions	0.0