152 - Traffic light detection improvements

[MaxJa4]

Description

More robust traffic light detection, better handling of side-facing traffic lights, support for different kinds of intersections (due to placement of traffic lights).

Fixes #152

Type of change

Please delete options that are not relevant.

• New feature (non-breaking change which adds functionality)
• This change requires a documentation update

Does this PR introduce a breaking change?

No

Checklist:

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

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.09338
Avg. route completion	1.575
Avg. infraction penalty	0.112656
Collisions with pedestrians	0.0
Collisions with vehicles	36.105
Collisions with layout	13.539
Red lights infractions	0.0
Stop sign infractions	4.513
Off-road infractions	0.009
Route deviations	9.026
Route timeouts	0.0
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	4.513
Min speed infractions	0.0

[samuelkuehnel]

As Leon is ill, i will perform the review.
Nice improvements, looking forward to test them out!!!!!!!!!!!!!!