In fact there is prepared DangerEven exactly for this. I'm not sure how you handle danger reactions. What normal soldiers do is SCR_AIDangerReaction_DoorMovement.
I'm not sure what you are using. From trees here it doesn't seem you are using Utility component. Processing of danger events is done there trough ThreatSystem. So you can write some minimalisitc danger processing even here in your BT and create your own reactions to different things if you wish.
But anyway it's nice to see some real AI mod :]
