166 bug lag when emergency braking in leaderboard eval

[robertik10]

Description

The Simulation started to lag really badly in the Leaderboard version whenever we started an emergency brake.
Now this issue is fixed and we can emergency brake without problems!

Fixes #166

Type of change

• Bug fix (non-breaking change which fixes an issue)

Does this PR introduce a breaking change?

makes emergency brakes work!

Most important changes

acting -> vehicle_controller.py
Especially the way the emergency brake was implemented and how its embedded in the loop now

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)

[samuelkuehnel]

Nice fixes for emergency brake!