def bounding_box(self):
        """
        This function will return the 2D bounding box of vehicle. Points are in clockwise sequence, first point is the
        top-left point.
        """
        p1 = self.convert_to_world_coordinates([self.LENGTH / 2, self.WIDTH / 2], self.position)
        p2 = self.convert_to_world_coordinates([self.LENGTH / 2, -self.WIDTH / 2], self.position)
        p3 = self.convert_to_world_coordinates([-self.LENGTH / 2, -self.WIDTH / 2], self.position)
        p4 = self.convert_to_world_coordinates([-self.LENGTH / 2, self.WIDTH / 2], self.position)
        return [p1, p2, p3, p4]

        This function will return the 2D bounding box of vehicle. Points are in clockwise sequence, first point is the
        top-left point.
        
metadrive/base_class/base_object.py