106 feature extended kalman filter for more precise location measurements

[robertik10]

Description

A functioning kalman_filter.py file is now in the perception package.
It is able to beat the older filter by about 50 percent to get about 0.5 meters more accuracy.
It can still be tuned more.
It is also not yet publishing a new current_pos, or heading, which is what i'd like to discuss with you on monday

Fixes #106, #151

Type of change

Please delete options that are not relevant.

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• This change requires a documentation update

Does this PR introduce a breaking change?

no, every other file stayed the same for now

Most important changes

the kalman_filter.py file is the most important change

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	0.0
Avg. route completion	0.0
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	2000.0
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	2000.0
Min speed infractions	0.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.005228
Avg. route completion	0.135
Avg. infraction penalty	0.369364
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	137.833
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0.019
Route deviations	0.0
Route timeouts	91.889
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	45.944
Min speed infractions	0.0

[okrusch]

Nice work!

[okrusch]

Review failed checks!

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.006825
Avg. route completion	0.015
Avg. infraction penalty	0.455
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	930.763
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	930.763
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	930.763
Min speed infractions	0.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.006825
Avg. route completion	0.015
Avg. infraction penalty	0.455
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	930.763
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	930.763
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	930.763
Min speed infractions	0.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.00455
Avg. route completion	0.01
Avg. infraction penalty	0.5775
Collisions with pedestrians	0.0
Collisions with vehicles	0.0
Collisions with layout	744.799
Red lights infractions	0.0
Stop sign infractions	0.0
Off-road infractions	0
Route deviations	0.0
Route timeouts	1489.597
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	1489.597
Min speed infractions	0.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.007542
Avg. route completion	6.425
Avg. infraction penalty	0.350587
Collisions with pedestrians	1.159
Collisions with vehicles	10.433
Collisions with layout	1.159
Red lights infractions	0.0
Stop sign infractions	3.478
Off-road infractions	0
Route deviations	1.159
Route timeouts	1.159
Agent blocked	0.0
Yield emergency vehicles infractions	0.0
Scenario timeouts	2.318
Min speed infractions	0.0