165 feature local trajectory planning with frenet trajectory planner

[samuelkuehnel]

Description

This PR introduces the frenet trajectory planner to our project. It enables to create a new trajecotry during runtime when a object ist detected in front.
Fixes #165

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 method in motion planning.
utils.py file that has some utility methods to free up space in the motion planning file.

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
• I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
• 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	0.040579
Avg. route completion	3.88
Avg. infraction penalty	0.009472
Collisions with pedestrians	0.0
Collisions with vehicles	23.888
Collisions with layout	3.413
Red lights infractions	1.706
Stop sign infractions	1.706
Off-road infractions	0.041
Route deviations	0.0
Route timeouts	0.0
Agent blocked	3.413
Yield emergency vehicles infractions	0.0
Scenario timeouts	3.413
Min speed infractions	0.0

[JuliusMiller]

Maybe change some things for better understanding on the main-branch

[samuelkuehnel]

Changes done please re-review

[JuliusMiller]

Nice Changes! Approved!

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.09828
Avg. route completion	0.36
Avg. infraction penalty	0.273
Collisions with pedestrians	0.0
Collisions with vehicles	39.192
Collisions with layout	39.192
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	39.192
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	39.192
Min speed infractions	0.0