9 paf 21 1 perception

[okrusch]

Description

This fixes Issue 9. I included a doc file in perception where I give a short summary of the concepts used in paf_21_1. Overall we probably can´t adopt to much of their concepts.

Fixes #9

Type of change

Please delete options that are not relevant.

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

Does this PR introduce a breaking change?

NO

Most important changes

Which files functionalities are most important in this PR. On which part should the reviewer be focussed on?

Added on doc file in perception.

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	0.010844
Avg. route completion	10.21
Avg. infraction penalty	0.001583
Collisions with pedestrians	0.001583
Collisions with vehicles	2.051
Collisions with layout	12.993
Red lights infractions	4.103
Stop sign infractions	0.0
Off-road infractions	2.735
Route deviations	0.17
Route timeouts	0.0
Agent blocked	0.684
Yield emergency vehicles infractions	0.684
Scenario timeouts	0.0
Min speed infractions	1.368
undefined	0.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.069417
Avg. route completion	4.98
Avg. infraction penalty	0.148737
Collisions with pedestrians	0.148737
Collisions with vehicles	2.509
Collisions with layout	11.291
Red lights infractions	3.764
Stop sign infractions	0.0
Off-road infractions	0.0
Route deviations	0.033
Route timeouts	0.0
Agent blocked	0.0
Yield emergency vehicles infractions	2.509
Scenario timeouts	0.0
Min speed infractions	1.255
undefined	0.0

[github-actions]

Simulation results

Metric	Value
Avg. driving score	0.012321
Avg. route completion	11.36
Avg. infraction penalty	0.001014
Collisions with pedestrians	0.001014
Collisions with vehicles	0.608
Collisions with layout	11.553
Red lights infractions	2.432
Stop sign infractions	0.0
Off-road infractions	2.432
Route deviations	0.141
Route timeouts	0.0
Agent blocked	0.0
Yield emergency vehicles infractions	1.216
Scenario timeouts	0.0
Min speed infractions	1.216
undefined	0.0