Add documentation for collision check

doc/07_planning/collision_check.md

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+# Class: Collision Check
+
+**Summary:** This document states the implemenation of th Collision Check class.
+
+---
+
+## Author
+
+Julius Miller
+
+## Date
+
+03.12.2023
+
+## Overview
+
+Calculates if the ego vehicle will collide with the obstacle in front, assuming both travel with constant speed.
+
+Improvements: Add local path into calculation
+
+Input:
+
+- ego_vehicle_speed (m/s)
+- obstacle_speed (m/s)
+- obstacle_distance (m)
+
+Output:
+
+- time to collision (s)
+- meters to collision (m)
+- emergency brake
+
+Test: Ego travels with 50 km/h
+
+Obstacle_1
+Ego reaches obstacle after 8.49 seconds.
+Ego reaches obstacle after 117.92 meters.
+
+Safe Distance PAF 22: 28.78
+Safe Distance Thumb: 38.89
+
+Obstacle_2
+Ego slower then car in front
+
+Obstacle_3
+Ego reaches obstacle after 10.11 seconds.
+Ego reaches obstacle after 140.45 meters.
+
+Safe Distance PAF 22: 28.78
+Safe Distance Thumb: 38.89
+
+Obstacle_4
+Emergency Brake needed, 26.39
+Ego reaches obstacle after 1.44 seconds.
+Ego reaches obstacle after 20.00 meters.
+
+Safe Distance PAF 22: 28.78
+Safe Distance Thumb: 38.89