139 feature reduce decision tree

[JuliusMiller]

Description

Redundant behaviors have been removed.

Only Intersection, Lane Switch and Cruise have been kept.

The decision tree now looks like this:

Fixes #139

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

code/planning/behavior_agent/src/behavior_agent/behavior_tree.py

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	0.002577
Avg. route completion	0.12
Avg. infraction penalty	0.228816
Collisions with pedestrians	0.0
Collisions with vehicles	615.516
Collisions with layout	123.103
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.005
Route deviations	0.0
Route timeouts	123.103
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	61.552
Min speed infractions	0.0

[samuelkuehnel]

thank you for cleaning up the docs
Removing unused parts of the decision tree is also very helpful to increase the performance