From 0c54ebfe43c642a819cbe2c52032e44e8d05ab20 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Wed, 26 Jun 2024 17:15:41 +0900
Subject: [PATCH 01/20] feat: vector map requirement proposal

---
 .cspell.json                                  |    2 +-
 .../design/autoware-architecture/map/index.md |    4 +-
 .../map/map-requirements/assets/vm-01-01.svg  |  168 ++
 .../map/map-requirements/assets/vm-01-02.svg  |  194 ++
 .../map-requirements/assets/vm-01-03_1.svg    |  265 ++
 .../map-requirements/assets/vm-01-03_2.svg    |  257 ++
 .../map-requirements/assets/vm-01-03_3.svg    |  318 +++
 .../map-requirements/assets/vm-01-04_1.svg    |  631 +++++
 .../map-requirements/assets/vm-01-04_2.svg    |  246 ++
 .../map-requirements/assets/vm-01-04_3.svg    |  314 +++
 .../map-requirements/assets/vm-01-05_1.svg    |  415 +++
 .../map-requirements/assets/vm-01-05_2.svg    |  178 ++
 .../map-requirements/assets/vm-01-05_3.svg    |  282 ++
 .../map-requirements/assets/vm-01-06_1.svg    |  454 +++
 .../map-requirements/assets/vm-01-06_2.svg    |  109 +
 .../map-requirements/assets/vm-01-06_3.svg    |   71 +
 .../map-requirements/assets/vm-01-07_1.svg    |  249 ++
 .../map-requirements/assets/vm-01-07_2.svg    |  142 +
 .../map-requirements/assets/vm-01-08_1.svg    |  416 +++
 .../map-requirements/assets/vm-01-08_2.svg    |  197 ++
 .../map-requirements/assets/vm-01-09_1.svg    |  100 +
 .../map-requirements/assets/vm-01-09_2.svg    |  213 ++
 .../map-requirements/assets/vm-01-10_1.svg    |  410 +++
 .../map-requirements/assets/vm-01-10_2.svg    |  405 +++
 .../map-requirements/assets/vm-01-10_3.svg    |  302 ++
 .../map-requirements/assets/vm-01-11_1.svg    |  455 +++
 .../map-requirements/assets/vm-01-11_2.svg    |  554 ++++
 .../map-requirements/assets/vm-01-11_3.svg    |  545 ++++
 .../map-requirements/assets/vm-01-12_1.svg    |  466 ++++
 .../map-requirements/assets/vm-01-12_2.svg    |  457 +++
 .../map-requirements/assets/vm-01-12_3.svg    |  387 +++
 .../map-requirements/assets/vm-01-13_1.svg    |  452 +++
 .../map-requirements/assets/vm-01-13_2.svg    |  272 ++
 .../map-requirements/assets/vm-01-14_1.svg    |  468 ++++
 .../map-requirements/assets/vm-01-14_2.svg    |  260 ++
 .../map-requirements/assets/vm-01-14_3.svg    |  191 ++
 .../map-requirements/assets/vm-01-15_1.svg    |  297 ++
 .../map-requirements/assets/vm-01-15_2.svg    |  431 +++
 .../map-requirements/assets/vm-01-15_3.svg    |  239 ++
 .../map-requirements/assets/vm-01-16_2.svg    |  333 +++
 .../map-requirements/assets/vm-01-17_1.svg    |  217 ++
 .../map-requirements/assets/vm-01-17_2.svg    |  408 +++
 .../map-requirements/assets/vm-01-18_2.svg    |  316 +++
 .../map-requirements/assets/vm-01-19_1.svg    |  542 ++++
 .../map-requirements/assets/vm-01-19_2.svg    |  302 ++
 .../map-requirements/assets/vm-02-01_1.svg    |  281 ++
 .../map-requirements/assets/vm-02-01_2.svg    |  141 +
 .../map-requirements/assets/vm-02-01_3.svg    |   93 +
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 .../map-requirements/assets/vm-02-02_2.svg    |  315 +++
 .../map-requirements/assets/vm-03-02_1.svg    |  222 ++
 .../map-requirements/assets/vm-03-02_2.svg    |  674 +++++
 .../map-requirements/assets/vm-03-03_1.svg    |  789 ++++++
 .../map-requirements/assets/vm-03-03_2.svg    |  689 +++++
 .../map-requirements/assets/vm-03-03_3.svg    |  699 +++++
 .../map-requirements/assets/vm-03-04_1.svg    |  898 ++++++
 .../map-requirements/assets/vm-03-04_2.svg    |  777 ++++++
 .../map-requirements/assets/vm-03-04_3.svg    |  661 +++++
 .../map-requirements/assets/vm-03-05_1.svg    |  777 ++++++
 .../map-requirements/assets/vm-03-05_2.svg    |  699 +++++
 .../map-requirements/assets/vm-03-05_3.svg    |  722 +++++
 .../map-requirements/assets/vm-03-06_1.svg    | 2472 +++++++++++++++++
 .../map-requirements/assets/vm-03-06_2.svg    | 2329 ++++++++++++++++
 .../map-requirements/assets/vm-03-07_1.svg    | 1681 +++++++++++
 .../map-requirements/assets/vm-03-07_2.svg    | 1347 +++++++++
 .../map-requirements/assets/vm-03-07_3.svg    | 1343 +++++++++
 .../map-requirements/assets/vm-03-08_1.svg    | 1077 +++++++
 .../map-requirements/assets/vm-03-09_1.svg    |  769 +++++
 .../map-requirements/assets/vm-03-10_1.svg    | 1794 ++++++++++++
 .../map-requirements/assets/vm-03-10_2.svg    |  864 ++++++
 .../map-requirements/assets/vm-03-10_3.svg    |  875 ++++++
 .../map-requirements/assets/vm-03-11_1.svg    | 1583 +++++++++++
 .../map-requirements/assets/vm-03-11_2.svg    |  722 +++++
 .../map-requirements/assets/vm-03-11_3.svg    |  601 ++++
 .../map-requirements/assets/vm-03-13_1.svg    |  558 ++++
 .../map-requirements/assets/vm-03-13_2.svg    |  498 ++++
 .../map-requirements/assets/vm-03-14_1.svg    |  921 ++++++
 .../map-requirements/assets/vm-03-14_2.svg    |  807 ++++++
 .../map-requirements/assets/vm-03-15_1.png    |  Bin 0 -> 3365 bytes
 .../map-requirements/assets/vm-03-15_2.svg    |  269 ++
 .../map-requirements/assets/vm-03-15_3.svg    |  346 +++
 .../map-requirements/assets/vm-04-01_1.svg    |  731 +++++
 .../map-requirements/assets/vm-04-01_2.svg    |  813 ++++++
 .../map-requirements/assets/vm-04-02_1.svg    |  654 +++++
 .../map-requirements/assets/vm-04-03_1.svg    |  590 ++++
 .../map-requirements/assets/vm-05-01_1.svg    |  161 ++
 .../map-requirements/assets/vm-05-02_1.svg    |  121 +
 .../map-requirements/assets/vm-05-03_2.svg    |  248 ++
 .../map-requirements/assets/vm-05-04_1.svg    |  181 ++
 .../map-requirements/assets/vm-06-01_1.svg    |  405 +++
 .../map-requirements/assets/vm-06-01_2.svg    |  132 +
 .../map-requirements/assets/vm-06-01_3.svg    | 1236 +++++++++
 .../map-requirements/assets/vm-06-02_1.svg    |  168 ++
 .../map-requirements/assets/vm-06-02_2.svg    |  236 ++
 .../map-requirements/assets/vm-06-03_1.svg    |  156 ++
 .../map-requirements/assets/vm-06-03_2.svg    |  236 ++
 .../map-requirements/assets/vm-06-04_1.svg    |  320 +++
 .../map-requirements/assets/vm-06-04_2.svg    |  383 +++
 .../map-requirements/assets/vm-06-05_1.svg    |  657 +++++
 .../map-requirements/assets/vm-07-01_1.svg    |  409 +++
 .../map-requirements/assets/vm-07-01_2.svg    |  321 +++
 .../map/map-requirements/assets/vm-07-03.svg  |  166 ++
 .../map-requirements/assets/vm-07-03_1.png    |  Bin 0 -> 154615 bytes
 .../map-requirements/assets/vm-07-03_2.png    |  Bin 0 -> 154579 bytes
 .../assets/vm-07-04_height_en.svg             |  188 ++
 .../map/map-requirements/category_area.md     |  151 +
 .../map-requirements/category_crosswalk.md    |  119 +
 .../map-requirements/category_intersection.md |  423 +++
 .../map/map-requirements/category_lane.md     |  453 +++
 .../map/map-requirements/category_others.md   |   98 +
 .../map-requirements/category_stop_line.md    |   45 +
 .../category_traffic_light.md                 |   92 +
 .../map/map-requirements/overview.md          |   82 +
 113 files changed, 53340 insertions(+), 4 deletions(-)
 create mode 100644 docs/design/autoware-architecture/map/map-requirements/assets/vm-01-01.svg
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 create mode 100644 docs/design/autoware-architecture/map/map-requirements/category_area.md
 create mode 100644 docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
 create mode 100644 docs/design/autoware-architecture/map/map-requirements/category_intersection.md
 create mode 100644 docs/design/autoware-architecture/map/map-requirements/category_lane.md
 create mode 100644 docs/design/autoware-architecture/map/map-requirements/category_others.md
 create mode 100644 docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
 create mode 100644 docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
 create mode 100644 docs/design/autoware-architecture/map/map-requirements/overview.md

diff --git a/.cspell.json b/.cspell.json
index 0cd761eb370..3ea0e5c9222 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -1,3 +1,3 @@
 {
-  "words": ["ISCLOAM"]
+  "words": ["ISCLOAM", "georeferenced", "MGRS"]
 }
diff --git a/docs/design/autoware-architecture/map/index.md b/docs/design/autoware-architecture/map/index.md
index b5607e5196d..5e337af5612 100644
--- a/docs/design/autoware-architecture/map/index.md
+++ b/docs/design/autoware-architecture/map/index.md
@@ -87,9 +87,7 @@ The vector cloud map must be supplied as a file with the following requirements:
 - Each lanelet in the map must contain traffic rule information including its speed limit, right of way, traffic direction, associated traffic lights, stop lines, and traffic signs.
 - It must cover the entire operational area of the vehicle.
 
-!!! warning
-
-    Under Construction
+For detailed specifications on Vector Map creation, please refer to [Vector Map Creation Requirement Specification document](./map-requirements/overview.md).
 
 ### Projection Information
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-01.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-01.svg
new file mode 100644
index 00000000000..420a99ff4c3
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-01-01.svg
@@ -0,0 +1,168 @@
+<?xml version="1.0" encoding="utf-8"?>
+<svg x="0" y="0" width="500" height="340" viewBox="0 0 500 340" version="1.1" style="display: block;margin-left: auto;margin-right: auto;" xmlns="http://www.w3.org/2000/svg" xmlns:bx="https://boxy-svg.com">
+  <defs>
+    <clipPath id="c_9">
+      <path d="M0,0H1100V825H0Z"/>
+    </clipPath>
+    <clipPath id="c0_9">
+      <path d="M0,825V0H1100V825Z"/>
+    </clipPath>
+    <style type="text/css">
+text { white-space: pre; }
+path, image { pointer-events: none; }
+
+.s0_9{
+font-size: 25.44px;
+font-family: MS-PGothic_c6;
+fill: #000;
+}
+.s1_9{
+font-size: 21.20px;
+font-family: MS-PGothic_c6;
+fill: #000;
+}
+.s2_9{
+font-size: 21.20px;
+font-family: ArialMT_c2;
+fill: #000;
+}
+.s3_9{
+font-size: 21.20px;
+font-family: ArialMT_c2;
+fill: #0097A7;
+}
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+font-size: 10.69px;
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+fill: #000;
+}
+.s5_9{
+font-size: 27.50px;
+font-family: MS-PGothic_c6;
+fill: #000;
+}
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+font-size: 27.50px;
+font-family: ArialMT_c2;
+fill: #000;
+}
+.s7_9{
+font-size: 15.28px;
+font-family: ArialMT_c2;
+fill: #000;
+}
+.s8_9{
+font-size: 13.75px;
+font-family: ArialMT_c2;
+fill: #000;
+}
+.s9_9{
+font-size: 15.28px;
+font-family: MS-PGothic_c6;
+fill: #000;
+}
+
+.g0_9{
+fill: #FFF;
+}
+.g1_9{
+fill: #000;
+fill-opacity: 0;
+}
+.g2_9{
+fill: none;
+stroke: #000;
+stroke-width: 1.145;
+stroke-linejoin: round;
+}
+.g3_9{
+fill: #010000;
+fill-opacity: 0;
+}
+.g4_9{
+fill: #0097A7;
+}
+.g5_9{
+fill: #666;
+}
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+    <rect x="540" y="165" width="85" height="30" fill="#66ff66" stroke="none" pointer-events="all"/>
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+          <div
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+                <br/>
+                ref_line
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+        <text x="583" y="184" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Linestring3d...</text>
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+    </g>
+    <path d="M 761.53 214.66 L 667.5 70" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+    <rect x="650" y="205" width="60" height="30" fill="#66ff66" stroke="none" pointer-events="all"/>
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+        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+          <div
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+        <text x="680" y="224" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Lanelet...</text>
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+    <rect x="732.5" y="245" width="85" height="30" fill="#66ff66" stroke="none" pointer-events="all"/>
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+          <div
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+                <br/>
+                ref_line
+              </div>
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+        <text x="775" y="264" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Linestring3d...</text>
+      </switch>
+    </g>
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+    <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+    <a transform="translate(0,-5)" xlink:href="https://www.drawio.com/doc/faq/svg-export-text-problems" target="_blank">
+      <text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text>
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+</svg>
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new file mode 100644
index 00000000000..1c3dfd2def2
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+    <g transform="translate(-0.5 -0.5)">
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+        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+          <div
+            xmlns="http://www.w3.org/1999/xhtml"
+            style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 118px; height: 1px; padding-top: 220px; margin-left: 627px;"
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+        <text x="627" y="224" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Type:lanelet...</text>
+      </switch>
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+        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+          <div
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+    <path d="M 778.16 84.66 L 680 190" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
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+          <div
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+                <br/>
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+        <text x="772" y="379" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Linestring...</text>
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+        <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+          <div
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+                <br/>
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+        <text x="502" y="69" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Linestring...</text>
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+    </g>
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+    <path d="M 825 80 L 820.12 348.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
+    <path d="M 820.02 353.88 L 816.65 346.82 L 820.12 348.63 L 823.65 346.95 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="none"/>
+  </g>
+  <switch>
+    <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+    <a transform="translate(0,-5)" xlink:href="https://www.drawio.com/doc/faq/svg-export-text-problems" target="_blank">
+      <text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text>
+    </a>
+  </switch>
+</svg>
diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-05-03_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-05-03_2.svg
new file mode 100644
index 00000000000..b599fdcd162
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/assets/vm-05-03_2.svg
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diff --git a/docs/design/autoware-architecture/map/map-requirements/category_area.md b/docs/design/autoware-architecture/map/map-requirements/category_area.md
new file mode 100644
index 00000000000..bcb435d4770
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_area.md
@@ -0,0 +1,151 @@
+## Category:Area
+
+---
+
+### vm-06-01 Buffer Zone
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create a Polygon (_type:hatched_road_markings_) when a Buffer Zone (also known as a zebra zone) is painted on the road surface.
+
+- If the Buffer Zone is next to a Lanelet, share Points between them.
+- Overlap the Buffer Zone's Polygon with the intersection's Polygon (intersection_area) if the Buffer Zone is located at an intersection.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area and proceeds through it.
+
+!!! Caution
+    - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas.
+    - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
+
+![svg](./assets/vm-06-01_1.svg)
+
+![svg](./assets/vm-06-01_2.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-01_3.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+
+---
+
+### vm-06-02 No parking signs
+
+#### Detail of requirements <!-- omit in toc -->
+
+When creating a Vector Map, you can prohibit parking in specific areas, while temporary stops are permitted.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_parking_area_), and have this Regulatory Element refer to a Polygon (_type:no_parking_area_).
+
+Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-parking-area) for the method of creation in Vector Map Builder.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there.
+
+![svg](./assets/vm-06-02_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-02_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+
+---
+
+### vm-06-03 No stopping signs
+
+#### Detail of requirements <!-- omit in toc -->
+
+When creating a Vector Map, you can prohibit stopping in specific areas, while temporary stops are permitted.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_parking_area_), and have this Regulatory Element refer to a Polygon (_type:no_parking_area_).
+
+Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-parking-area) for the method of creation in Vector Map Builder.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there.
+
+![svg](./assets/vm-06-03_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-03_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+
+---
+
+### vm-06-04 No stopping sections
+
+#### Detail of requirements <!-- omit in toc -->
+
+While vehicles may stop on the road for signals or traffic congestion, you can prohibit any form of stopping (temporary stopping, parking, idling) in specific areas when creating a Vector Map.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_stopping_area_), and have this Regulatory Element refer to a Polygon (_type:no_stopping_area_).
+
+Refer to [Web.Auto Documentation - Creation of No Stopping Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-stopping-area) for the method of creation in Vector Map Builder.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+The vehicle does not make temporary stops in _no_stopping_area_. Since goals cannot be set in _no_stopping_area_, the vehicle cannot park there.
+
+![svg](./assets/vm-06-04_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-04_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [No Stopping Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/)
+
+---
+
+### vm-06-05 Detection area
+
+#### Detail of requirements <!-- omit in toc -->
+
+Autoware identifies obstacles by detecting point clouds in the Detection Area, leading to a stop at the stop line and maintaining that stop until the obstacles move away. To enable this response, incorporate the Detection Area element into the Vector Map.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:detection_area_), and have this Regulatory Element refer to a Polygon (_type:detection_area_) and a Linestring (_type:stop_line_).
+
+Refer to [Web.Auto Documentation - Creation of Detection Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-detection-area) for the method of creation in Vector Map Builder.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-05_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Detection Area - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
new file mode 100644
index 00000000000..2db632ae799
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
@@ -0,0 +1,119 @@
+## Category:Crosswalk
+
+There are two types of requirements for crosswalks, and they can both be applicable to a single crosswalk.
+
+- [vm-05-01](./category_crosswalk.md#vm-05-01-crosswalks-across-the-road) : Crosswalks across the road
+- [vm-05-02](./category_crosswalk.md#vm-05-02-crosswalks-with-pedestrian-signals) : Crosswalks with pedestrian signals
+
+In the case of crosswalks at intersections, they must also meet the requirements of the intersection.
+
+---
+
+### vm-05-01 Crosswalks across the road
+
+#### Detail of requirements <!-- omit in toc -->
+
+Necessary requirements for creation:
+
+1. Create a Lanelet for the crosswalk (_subtype:crosswalk_).
+2. If there is a stop line before the crosswalk, create a Linestring (_type:stop_line_). Create stop lines for the opposing traffic lane in the same way.
+3. Create a Polygon (_type:crosswalk_polygon_) to cover the crosswalk.
+4. The Lanelet of the road refers to the regulatory element (_subtype:crosswalk_), and the regulatory element refers to the created Lanelet, Linestring, and Polygon.
+
+##### Supplemental information
+
+- Link the regulatory element to the lanelet(s) of the road that intersects with the crosswalk.
+- The stop lines linked to the regulatory element do not necessarily have to exist on the road Lanelets linked with the regulatory element.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+When pedestrians or cyclists are on the crosswalk, Autoware will come to a stop before the stop line and wait for them to pass. Once they have cleared the area, Autoware will begin to move forward.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-01_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/)
+
+---
+
+### vm-05-02 Crosswalks with pedestrian signals
+
+#### Detail of requirements <!-- omit in toc -->
+
+Necessary requirements for creation:
+
+- Create a Lanelet (_subtype:crosswalk_, _participant:pedestrian_).
+- Create a Traffic Light Linestring. If multiple traffic lights exist, create multiple Linestrings.
+  - Linestring
+    - _type:traffic_light_
+    - _subtype:red_green_
+    - _height_:value
+- Ensure the crosswalk's Lanelet references a Regulatory Element (_subtype:traffic_light_). Also, ensure the Regulatory Element references Linestring (_type:traffic_light_).
+
+Refer to [vm-04-02](./category_traffic_light.md#vm-04-02-traffic-light-position-and-size) for more about traffic light object.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-02_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/)
+
+---
+
+### vm-05-03 Deceleration for safety at crosswalks
+
+#### Detail of requirements <!-- omit in toc -->
+
+To ensure a constant deceleration to a safe speed when traversing a crosswalk, add the following tags to the crosswalk's Lanelet (_subtype:crosswalk_):
+
+- _safety_slow_down_speed_ [m/s]: The maximum velocity while crossing.
+- _safety_slow_down_distance_ [m]: The starting point of the area where the maximum speed applies, measured from the vehicle's front bumper to the crosswalk.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-03_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/)
+
+---
+
+### vm-05-04 Fences
+
+#### Detail of requirements <!-- omit in toc -->
+
+Autoware detects pedestrians and bicycles crossing the crosswalk, as well as those that might cross. However, areas near the crosswalk, such as fenced kindergartens, playgrounds, or parks, where many people are moving, can affect crosswalk detection due to predicted paths of people and bicycles from these areas.
+
+Surround areas not connected to the crosswalk with Linestring (_type:fence_), which does not need to be linked to anything.
+
+However, if there is a guardrail, wall, or fence between the road and sidewalk, with another fence behind it, the second fence may be omitted. Nevertheless, areas around crosswalks are not subject to this omission and must be created without exclusion.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-04_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/)
\ No newline at end of file
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
new file mode 100644
index 00000000000..f82e96a271a
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
@@ -0,0 +1,423 @@
+## Category:Intersection
+
+---
+
+### vm-03-01 Intersection criteria
+
+#### Detail of requirements <!-- omit in toc -->
+
+Essential criteria for the construction of an intersection:
+
+- Encircle the drivable area at the intersection with a Polygon (_type:intersection_area_).
+- Add _turn_direction_ to all Lanelets in the intersection.
+- Ensure that all lanelets in the intersection are tagged:
+  - _key:intersection_area_
+  - _value: Polygon's ID_
+- Attach _right_of_way_ to the necessary Lanelets.
+- Also, it is necessary to appropriately create traffic lights, crosswalks, and stop lines.
+
+For detailed information, refer to the respective requirements on this page.
+
+##### Autoware modules <!-- omit in toc -->
+
+- The requirements for _turn_direction_ and _right_of_way_ are related to the intersection module, which plans velocity to avoid collisions with other vehicles, taking traffic light instructions into account.
+- The requirements for _intersection_area_ are related to the avoidance module, which plans routes that evade by veering out of lanes in the intersections.
+
+#### Preferred vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+
+---
+
+### vm-03-02 Lanelet's turn direction and virtual linestring
+
+#### Detail of requirements <!-- omit in toc -->
+
+Add the following tag to the Lanelets in the intersection:
+
+- turn_direction : straight
+- turn_direction : left
+- turn_direction : right
+
+Also, if the left or right Linestrings of Lanelets at the intersection lack road paintings, designate these as _type:virtual_.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+Autoware will start flashing the turn signals (blinkers) 30 meters as default before turn_direction-tagged Lanelet. If you change the blinking timing, add the following tags:
+
+- key: _turn_signal_distance_
+- value: numerical value (m)
+
+![svg](./assets/vm-03-02_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-02_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
+- [virtual_traffic_light in behavior_velocity_planner - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/)
+
+---
+
+### vm-03-03 Lanelet width in the intersection
+
+#### Detail of requirements： <!-- omit in toc -->
+
+Lanelets in the intersection should have a consistent width. Additionally, draw Linestrings with smooth curves.
+
+The shape of this curve must be determined by the Vector Map creator.
+
+![svg](./assets/vm-03-03_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-03_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-03_3.svg)
+
+---
+
+### vm-03-04 Lanelet creation in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create all Lanelets in the intersection, including lanelets not driven by the vehicle. Additionally, link stop lines and traffic lights to the Lanelets appropriately.
+
+Refer also to the creation scope [vm-07-01](./category_others.md#vm-07-01-vector-map-creation-range)
+
+##### Behavior of Autoware <!-- omit in toc -->
+
+Autoware uses lanelets to predict the movements of other vehicles and plan the vehicle's velocity accordingly. Therefore, it is necessary to create all lanelets in the intersection.
+
+![svg](./assets/vm-03-04_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-04_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-04_3.svg)
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-05 Lanelet division in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create the Lanelets in the intersection as a single object without dividing them.
+
+![svg](./assets/vm-03-05_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-05_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-03_3.svg)
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-06 Guide lines in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+If there are guide lines in the intersection, draw the Lanelet following them.
+
+In cases where the Lanelets branches off, begin the branching at the end of the guide line. However, it is not necessary to share points or linestrings between Lanelets.
+
+![svg](./assets/vm-03-06_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-06_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-07 Multiple lanelets in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+When connecting multiple lanes with Lanelets at an intersection, those Lanelets should be made adjacent to each other without crossing.
+
+![svg](./assets/vm-03-07_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-07_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-07_3.svg)
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-08 Intersection area range
+
+#### Detail of requirements <!-- omit in toc -->
+
+Encircle the intersection's drivable area with a Polygon (_type:intersection_area_). The boundary of this intersection's Polygon should be defined by the objects below.
+
+- Linestrings (_subtype:road_border_)
+- Straight lines at the connection points of lanelets in the intersection."
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-08_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+
+---
+
+### vm-03-09 Range of Lanelet in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+Determine the start and end positions of lanelets in the intersection (henceforth the boundaries of lanelet connections) based on the stop line's position.
+
+- For cases with a painted stop line:
+  - The stop line's linestring (_type:stop_line_) position must align with the lanelet's start.
+  - Extend the lanelet's end to where the opposing lane's stop line would be.
+- Without a painted stop line:
+  - Use a drawn linestring (_type:stop_line_) to establish positions as if there were a painted stop line.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-09_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-10 Right of way (with signal)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Set the regulatory element 'right_of_way' for Lanelets that meet all of the following criteria:
+
+- Lanelets in the intersection with a _turn_direction_ of _right_ or _left_.
+- Lanelets that intersect with the vehicle's lanelet.
+- There are traffic lights at the intersection.
+
+Set to _yield_ those lanelets in the intersection that intersect the vehicle's lanelet, and set to _yield_ those lanelets that do not share the same signal change timing with the vehicle. Also, if the vehicle is turning left, set the opposing vehicle's right-turn lane to _yield_. There is no need to set _yield_ for lanelets where the vehicle goes straight (_turn_direction:straight_).
+
+![svg](./assets/vm-03-10_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+##### The vehicle turns left <!-- omit in toc -->
+
+![svg](./assets/vm-03-10_2.svg)
+
+##### The vehicle turns right <!-- omit in toc -->
+
+![svg](./assets/vm-03-10_3.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-11 Right of way (without signal)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Set the regulatory element 'right_of_way' for Lanelets that meet all of the following criteria:
+
+- Lanelets in the intersection with a _turn_direction_ of _right_ or _left_.
+- Lanelets that intersect with the vehicle's lanelet.
+- There are **no** traffic lights at the intersection.
+
+![svg](./assets/vm-03-11_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+##### ① The vehicle on the priority lane <!-- omit in toc -->
+
+![svg](./assets/vm-03-11_2.svg)
+
+##### ② The vehicle on the non-priority lane <!-- omit in toc -->
+
+A regulatory element is not necessary. However, when the vehicle goes straight, it has relative priority over other vehicles turning right from the opposing non-priority road. Therefore, settings for _right_of_way_ and _yield_ are required in this case.
+
+![svg](./assets/vm-03-11_3.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-12 Right of way supplements
+
+#### Detail of requirements <!-- omit in toc -->
+
+##### Why it's necessary to configure 'right_of_way' <!-- omit in toc -->
+
+Without the 'right_of_way' setting, Autoware interprets other lanes intersecting its path as having priority. Therefore, as long as there are other vehicles in the crossing lane, Autoware cannot enter the intersection regardless of signal indications.
+
+An example of a problem: Even when our signal allows proceeding, our vehicle waits beforehand if other vehicles are waiting at a red light where the opposing lane intersects with a right-turn lane.
+
+#### Preferred vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-13 Merging from private area, sidewalk
+
+#### Detail of requirements <!-- omit in toc -->
+
+Set _location=private_ for Lanelets within private property.
+
+When a road, which enters or exits private property, intersects with a sidewalk, create a Lanelet for that sidewalk (_subtype:walkway_).
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+- The vehicle stops temporarily before entering the sidewalk.
+- The vehicle comes to a stop before merging onto the public road.
+
+![svg](./assets/vm-03-13_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-13_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-14 Road marking
+
+#### Detail of requirements <!-- omit in toc -->
+
+If there is a stop line ahead of the guide lines in the intersection, ensure the following:
+
+- Create a Lanelet for the guide lines.
+- The Lanelet for the guide lines references a Regulatory Element (_subtype:road_marking_).
+- The Regulatory Element refers to the _stop_line_'s Linestring."
+
+Refer to [Web.Auto Documentation - Creation of Regulatory Element](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-regulatory-element) for the method of creation in Vector Map Builder.
+
+![svg](./assets/vm-03-14_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-14_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-15 Exclusive bicycle lane
+
+#### Detail of requirements <!-- omit in toc -->
+
+If an exclusive bicycle lane exists, create a Lanelet (_subtype:road_). The section adjoining the road should share a Linestring. For bicycle lanes at intersections, assign a yield*lane designation beneath the \_right_of_way* for lanes that intersect with the vehicle's left-turn lane. (Refer to [vm-03-10](./category_intersection.md#vm-03-10-right-of-way-with-signal) and [vm-03-11](./category_intersection.md#vm-03-11-right-of-way-without-signal) for right_of_way).
+
+In addition, set _lane_change = no_ as OptionalTags.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+The blind spot (entanglement check) feature verifies the lanelet(subtype:road) and decides if the vehicle can proceed.
+
+![png](./assets/vm-03-15_1.png)
+
+![svg](./assets/vm-03-15_2.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-15_3.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
\ No newline at end of file
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
new file mode 100644
index 00000000000..a160449d74a
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
@@ -0,0 +1,453 @@
+## Category:Lane
+
+---
+
+### vm-01-01 Lanelet basics
+
+#### Detail of requirements <!-- omit in toc -->
+
+The road's Lanelets must comply with the following requirements.
+
+- _subtype:road_
+- location:urban, for public roads
+- Align the Lanelet's direction with the direction of vehicle move. (You can visualize lanelet direction as arrows with [Vector Map Builder](https://docs.web.auto/en/user-manuals/vector-map-builder/screen-layout#project-tab))
+- Set lane change is allowed or not, according to [vm-01-02](#vm-01-02-allowance-for-lane-changes).
+- Set the Linestring IDs for Lanelet's left_bound and right_bound respectively. See [vm-01-03](#vm-01-03-linestring-sharing).
+- tag : _one_way=yes_. Autoware currently does not support no.
+- Connect the Lanelet to another Lanelet, except if it's at the start or end.
+- Position the points (x, y, z) within the Lanelet to align with the PCD Map, ensuring accuracy not only laterally but also in elevation. The height of a Point should be based on the ellipsoidal height (WGS84). Refer to [vm-07-04](./category_others.md#vm-07-04-ellipsoidal-height).
+
+#### Preferred vector map <!-- omit in toc -->
+
+![lanelet](./assets/vm-01-01.svg)
+
+---
+
+### vm-01-02 Allowance for lane changes
+
+#### Detail of requirements <!-- omit in toc -->
+
+Add a tag to the Lanelet's Linestring indicating lane change permission or prohibition.
+
+- Permit _lane_change=yes_
+- Prohibit _lane_change=no_
+
+Set the Linestring _subtype_ according to the type of line.
+
+- _solid_
+- _dashed_
+
+##### Referenced from Japan's Road Traffic Law <!-- omit in toc -->
+
+- White dashed lines : indicate that lane changes and overtaking are permitted.
+- White solid lines : indicate that changing lanes and overtaking are allowed.
+- Yellow solid lines : mean no lane changes are allowed.
+
+![lines](./assets/vm-01-02.svg)
+
+#### Related Autoware module
+
+- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/)
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/)
+
+---
+
+### vm-01-03 Linestring sharing
+
+#### Detail of requirements <!-- omit in toc -->
+
+Share the Linestring when creating Lanelets that are physically adjacent to others.
+
+##### Behavior of Autoware <!-- omit in toc -->
+
+If the Lanelet adjacent to the one the vehicle is driving on shares a Linestring, the following behaviors become possible:
+
+- The vehicle moves out of their lanes to avoid obstacles.
+- The vehicle turns a curve while slightly extending out of the lane.
+- Lane changes
+
+![lines](./assets/vm-01-03_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![lines](./assets/vm-01-03_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![lines](./assets/vm-01-03_3.svg)
+
+#### Related Autoware module
+
+- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/)
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/)
+
+---
+
+### vm-01-04 Sharing of the centerline of lanes for opposing traffic
+
+#### Detail of requirements <!-- omit in toc -->
+
+When the vehicle's lanelet and the opposing lanelet physically touch, the road center line's Linestring ID must be shared between these two Lanelets. For that purpose, the lengths of those two Lanelets must match.
+
+##### Behavior of Autoware：<!-- omit in toc -->
+
+Obstacle avoidance across the opposing lane is possible.
+
+![svg](./assets/vm-01-04_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-04_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-04_3.svg)
+
+---
+
+### vm-01-05 Lane geometry
+
+#### Detail of requirements <!-- omit in toc -->
+
+The geometry of the road lanelet needs to comply with the following:
+
+- The left and right Linestrings must follow the road's boundary lines.
+- The lines of a Lanelet, which join with lanelets ahead and behind it, must form straight lines.
+- Ensure the outline is smooth and not jagged or bumpy, except for L-shaped cranks.
+
+![svg](./assets/vm-01-05_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-05_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-05_3.svg)
+
+---
+
+### vm-01-06 Line position (1)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Ensure the road's center line Linestring is located in the exact middle of the road markings.
+
+![svg](./assets/vm-01-06_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-06_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-06_3.svg)
+
+---
+
+### vm-01-07 Line position (2)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Place the Linestring at the center of the markings when lines exist outside the road.
+
+![svg](./assets/vm-01-07_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-07_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-08 Line position (3)
+
+#### Detail of requirements <!-- omit in toc -->
+
+If there are no lines on the outer side within the road, position the Linestring 0.5 m from the road's edge.
+
+!!! Caution
+
+    The width depends on the laws of your country.
+
+![svg](./assets/vm-01-08_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-08_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-09 Speed limits
+
+#### Detail of requirements <!-- omit in toc -->
+
+In the following cases, add a speed limit (_tag:speed_limit_) to the Lanelet (_subtype:road_) the vehicle is driving on, in km/h.
+
+- A speed limit road sign exists.
+- You can add a speed limit, for example, on narrow roads.
+
+Note that the following is achieved through Autoware's settings and behavior.
+
+- Vehicle's maximum velocity
+- Speed adjustment at places requiring deceleration, like curves and downhill areas.
+
+![svg](./assets/vm-01-09_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-09_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-10 Centerline
+
+#### Detail of requirements <!-- omit in toc -->
+
+Autoware is designed to move through the midpoint calculated from a Lanelet's left and right Linestrings.
+
+Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.
+
+!!!Caution
+    'Centerline' is a distinct concept from the central lane division line (centerline).
+
+![svg](./assets/vm-01-10_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-10_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-10_3.svg)
+
+---
+
+### vm-01-11 Centerline connection (1)
+
+#### Detail of requirements <!-- omit in toc -->
+
+When center lines have been added to several Lanelets, they should be connected.
+
+![svg](./assets/vm-01-11_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-11_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-11_3.svg)
+
+---
+
+### vm-01-12 Centerline connection (2)
+
+#### Detail of requirements <!-- omit in toc -->
+
+If a Lanelet with an added centerline is connected to Lanelets without one, ensure the start and end points of the added centerline are positioned at the Lanelet's center. Ensure the centerline has a smooth shape for drivability.
+
+![svg](./assets/vm-01-12_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-12_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-12_3.svg)
+
+---
+
+### vm-01-13 Roads with no centerline (1)
+
+#### Detail of requirements <!-- omit in toc -->
+
+When a road lacks a central line but is wide enough for one's vehicle and oncoming vehicles to pass each other, Lanelets should be positioned next to each other at the center of the road.
+
+![svg](./assets/vm-01-13_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-13_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-14 Roads with no centerline (2)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Apply if all the next conditions are satisfied:
+
+- The road is a single lane without a central line and is too narrow for one's vehicle and an oncoming vehicle to pass each other.
+- It is an environment where no vehicles other than the autonomous vehicle enter this road.
+- The plan involves autonomous vehicles operating forth and back on this road.
+
+Requirement for Vector Map creation:
+
+- Stack two Lanelets together.
+
+##### Supplementary information:
+
+- The application of this case depends on local operational policies and vehicle specifications, and should be determined in discussion with the map requestor.
+- The current Autoware does not possess the capability to pass oncoming vehicles in shared lanes.
+
+![svg](./assets/vm-01-14_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-14_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-14_3.svg)
+
+---
+
+### vm-01-15 Road Shoulder
+
+#### Detail of requirements <!-- omit in toc -->
+
+If there is a shoulder next to the road, place the lanelet for the road shoulder (_subtype:road_shoulder_). However, it is not necessary to create this within intersections.
+
+The road shoulder's Lanelet and sidewalk's Lanelet share the Linestring (_subtype:road_border_).
+
+There must not be a road shoulder Lanelet next to another road shoulder Lanelet.
+
+A road Lanelet must be next to the shoulder Lanelet.
+
+##### Behavior of Autoware <!-- omit in toc -->
+
+- Autoware can start from the shoulder and also reach the shoulder.
+- The margin for moving to the edge upon arrival is determined by the Autoware parameter _margin_from_boundary_. It does not need to be considered when creating the Vector Map.
+- Autoware does not park on the road shoulder lanelet if it overlaps with any of the following:
+  - A Polygon marked as _no_parking_area_
+  - A Polygon marked as _no_stopping_area_
+  - Areas near intersection and in the intersection
+  - Crosswalk
+
+_tag:lane_change=yes_ is not required on the Linestring marking the boundary of the shoulder.
+
+![svg](./assets/vm-01-15_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-15_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+Do not create a road shoulder Lanelet for roads without a shoulder.
+
+![svg](./assets/vm-01-15_3.svg)
+
+#### Related Autoware module
+
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+
+---
+
+### vm-01-16 Road shoulder Linestring sharing
+
+#### Detail of requirements <!-- omit in toc -->
+
+The Lanelets for the road shoulder and the adjacent road should have a common Linestring.
+
+![svg](./assets/vm-01-15_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-16_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+
+---
+
+### vm-01-17 Side strip
+
+#### Detail of requirements <!-- omit in toc -->
+
+Place a Lanelet (_subtype:pedestrian_lane_) on the side strip. However, it is not necessary to create this within intersections.
+
+The side strip's Lanelet must have the Linestring (_subtype:road_border_) outside.
+
+![svg](./assets/vm-01-17_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-17_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-18 Side strip Linestring sharing
+
+#### Detail of requirements <!-- omit in toc -->
+
+The Lanelet for the side strip and the adjacent road Lanelet should have a common Linestring.
+
+![svg](./assets/vm-01-17_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-18_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-19 sidewalk
+
+#### Detail of requirements <!-- omit in toc -->
+
+Place a sidewalk Lanelet (_subtype:walkway_) where necessary. However, install only when there is a crosswalk intersecting the vehicle's lane. Do not install if there is no intersection.
+
+The length of the lanelet (_subtype:walkway_) should be the area intersecting with your lane and additional 3 meters before and after.
+
+![svg](./assets/vm-01-19_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-19_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/)
\ No newline at end of file
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_others.md b/docs/design/autoware-architecture/map/map-requirements/category_others.md
new file mode 100644
index 00000000000..d1dac3a41d7
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_others.md
@@ -0,0 +1,98 @@
+## Category:Others
+
+---
+
+### vm-07-01 Vector Map creation range
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create all Lanelets within the sensor range of the vehicle, even those on roads not driven by the vehicle, including Lanelets that intersect with the vehicle's Lanelet.
+
+However, if the following conditions are met, the range you must create lanelets is 10 meters at least.
+
+- The vehicle drives on the priority lane through the intersection without traffic lights.
+- The vehicle drives straight or turn left through the intersection with traffic lights
+
+Refer to [vm-03-04](./category_intersection.md#vm-03-04-lanelet-creation-in-the-intersection) for more about intersection requirements.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+Autoware detects approaching vehicles and plans a route to avoid collisions.
+
+!!! Caution
+
+    Check the range of sensors on your vehicle.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-07-01_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-07-01_2.svg)
+
+---
+
+### vm-07-02 Range of detecting pedestrians who enter the road
+
+#### Detail of requirements <!-- omit in toc -->
+
+Autoware's feature for detecting sudden entries from the roadside tracks pedestrians and cyclists beyond the road boundaries, decelerating to prevent collisions when emergence into the road is likely.
+
+Setting up a linestring of the following type instructs Autoware to disregard those positioned outside the line as not posing pop-out risks.
+
+- guard_rail
+- wall
+- fence
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-04_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/)
+
+---
+
+### vm-07-03 Guardrails, guard pipes, fences
+
+#### Detail of requirements <!-- omit in toc -->
+
+When creating a Linestring for guardrails or guard pipes (_type: guard_rail_), position it at the point where the most protruding part on the roadway side is projected vertically onto the ground.
+
+Follow the same position guidelines for Linestrings of fences (_type:fence_).
+
+#### Preferred vector map <!-- omit in toc -->
+
+![png](./assets/vm-07-03_1.png)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![png](./assets/vm-07-03_2.png)
+
+#### Related Autoware module
+
+- [Drivable Area design -  Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/)
+
+---
+
+### vm-07-04 Ellipsoidal height
+
+#### Detail of requirements <!-- omit in toc -->
+
+The height of a Point should be based on the ellipsoidal height (WGS84), in meters.
+
+![svg](./assets/vm-07-04_height_en.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+The height of a Point is the distance from the ellipsoidal surface to the ground.
+
+#### Incorrect vector map <!-- omit in toc -->
+
+The height of a Point is Orthometric height, the distance from the Geoid to the ground.
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
new file mode 100644
index 00000000000..61ee74f6e65
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
@@ -0,0 +1,45 @@
+## Category:Stop Line
+
+---
+
+### vm-02-01 Stop line alignment
+
+#### Detail of requirements <!-- omit in toc -->
+
+Place the Linestring (_type:stop_line_) for the stop line on the edge on the side before the white line.
+
+Refer to [Web.Auto Documentation - Creation and edit of a stop point (StopPoint)](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-and-edit-of-a-stop-point-stoppoint) for the method of creation in Vector Map Builder.
+
+![svg](./assets/vm-02-01_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-02-01_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-02-01_3.svg)
+
+---
+
+### vm-02-02 Stop sign
+
+#### Detail of requirements <!-- omit in toc -->
+
+Where there is no stop line on the road but a stop sign exists, place a Linestring as the stop line next to the sign.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:traffic_sign_), and have this Regulatory Element refer to a Linestring (_type:stop_line_) and a Linestring (_type:traffic_sign, subtype:stop_sign)_.
+
+![svg](./assets/vm-02-02_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-02-02_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/)
\ No newline at end of file
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md b/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
new file mode 100644
index 00000000000..5ede232e917
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
@@ -0,0 +1,92 @@
+## Category:Traffic Light
+
+---
+
+### vm-04-01 Traffic light basics
+
+#### Detail of requirements <!-- omit in toc -->
+
+When creating traffic lights in a vector map, meet the following requirements:
+
+- Road Lanelet (_subtype:road_). Quantity: one.
+- Traffic Light. Multiple instances possible.
+  - Traffic light Linestring (_type:traffic_light_).
+  - Traffic light bulbs Linestring (_type:light_bulbs_).
+  - Stop line Linestring (_type:stop_line_).
+- Regulatory element for traffic lights (_subtype:traffic_light_). Referenced by the road Lanelet and references both the traffic light (_traffic_light_, _light_bulbs_) and stop line (_stop_line_). Quantity: one.
+
+Refer to [Web.Auto Documentation - Creation of a traffic light and a stop line](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-a-traffic-light-and-a-stop-line) for the method of creation in Vector Map Builder.
+
+Refer to vm-04-02 and vm-04-03 for the specifications of traffic light and traffic light bulb objects.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-04-01_1.svg)
+
+If there is a crosswalk at the intersection, arrange for the road's Lanelet and the crosswalk's Lanelet to intersect and overlap.
+
+![svg](./assets/vm-04-01_2.svg)
+
+#### Related Autoware module
+
+- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/)
+
+---
+
+### vm-04-02 Traffic light position and size
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create traffic lights with Linestring.
+
+- _type:traffic_light_
+- _subtype:red_yellow_green_ (optional)
+
+Create the Linestring's length (from start to end points) precisely aligned with the traffic light's bottom edge. Ensure the traffic light's positional height is correctly represented in the Linestring's 3D coordinates.
+
+Use _tag:height_ for the traffic light's height, e.g., for 50cm, write _tag:height=0.5_. Note that this height indicates the size of the traffic light, not its position.
+
+##### Supplemental information <!-- omit in toc -->
+
+Autoware currently ignores subtype _red_yellow_green_.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-04-02_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/)
+
+---
+
+### vm-04-03 Traffic light lamps
+
+#### Detail of requirements <!-- omit in toc -->
+
+To enable the system to detect the color of traffic lights, the color scheme and arrangement must be accurately created as objects. Indicate the position of the lights with Points. For colored lights, use the _color_ tag to represent the color. For arrow lights, use the _arrow_ tag to indicate the direction.
+
+- _tag: color = red, yellow, green_
+- _tag: arrow = up, right, left, up_light, up_left_
+
+Use the Points of the lights when creating a Linestring.
+
+- _type: light_bulbs_
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-04-03_1.svg)
+
+The order of the lights' Points can be 1→2→3→4 or 4→3→2→1, either is acceptable.
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/overview.md
new file mode 100644
index 00000000000..a0a23b5a40d
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/overview.md
@@ -0,0 +1,82 @@
+# Vector Map creation requirement specifications
+
+## Overview
+
+Autoware relies on high-definition point cloud maps and vector maps of the driving environment to perform various tasks such as localization, route planning, traffic light detection, and predicting the trajectories of pedestrians and other vehicles.
+
+A vector map contains highly accurate information about a road network, lane geometry, and traffic lights. It is required for route planning, traffic light detection, and predicting the trajectories of other vehicles and pedestrians.
+
+Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md), which is based on the [lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) format and extended for Autoware.
+
+The primitives (basic components) used in Vector Map are explained in [Web.Auto Docs - What is Lanelet2](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction#what-is-lanelet2). The following **Vector Map creation requirement specifications** are written on the premise of these knowledge.
+
+This specification is a set of requirements for the creation of Vector Map(s) to ensure that Autoware drives safely and autonomously as intended by the user. It does not cover how to operate specific map creation tools.
+
+- [Vector Map Builder - how to use](https://docs.web.auto/user-manuals/vector-map-builder/how-to-use/edit-maps)
+
+## Handling of the Requirement Specification
+
+Which requirements apply entirely depends on the configuration of the Autoware system on a vehicle. Before creating a Vector Map, it is necessary to clearly determine in advance how you want the vehicle with the implemented system to behave in various environments.
+
+Next, you must comply with the laws of the country where the autonomous driving vehicle will be operating. It is your responsibility to choose which of the following requirements to apply according to the laws.
+
+!!!Caution
+    - The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries.
+    - The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
+
+## List of Requirement Specifications
+
+| Category                                                        | ID       | Requirements                                                      |
+| --------------------------------------------------------------- | -------- | ----------------------------------------------------------------- |
+| [Category Lane](./category_lane.md)                   | vm-01-01 | Lanelet basics                                                    |
+|                                                                 | vm-01-02 | Allowance for lane changes                                        |
+|                                                                 | vm-01-03 | Linestring sharing                                                |
+|                                                                 | vm-01-04 | Sharing of the centerline of lanes for opposing traffic           |
+|                                                                 | vm-01-05 | Lane geometry                                                     |
+|                                                                 | vm-01-06 | Line position (1)                                                 |
+|                                                                 | vm-01-07 | Line position (2)                                                 |
+|                                                                 | vm-01-08 | Line position (3)                                                 |
+|                                                                 | vm-01-09 | Speed limits                                                      |
+|                                                                 | vm-01-10 | Centerline                                                        |
+|                                                                 | vm-01-11 | Centerline connection (1)                                         |
+|                                                                 | vm-01-12 | Centerline connection (2)                                         |
+|                                                                 | vm-01-13 | Roads with no centerline (1)                                      |
+|                                                                 | vm-01-14 | Roads with no centerline (2)                                      |
+|                                                                 | vm-01-15 | Road shoulder                                                     |
+|                                                                 | vm-01-16 | Road shoulder Linestring sharing                                  |
+|                                                                 | vm-01-17 | Side strip                                                        |
+|                                                                 | vm-01-18 | Side strip Linestring sharing                                     |
+|                                                                 | vm-01-19 | Walkway                                                           |
+| [Category Stop Line](./category_stop_line.md)         | vm-02-01 | Stop line alignment                                               |
+|                                                                 | vm-02-02 | Stop sign                                                         |
+| [Category Intersection](./category_intersection.md)   | vm-03-01 | Intersection criteria                                             |
+|                                                                 | vm-03-02 | Lanelet's turn direction and virtual                              |
+|                                                                 | vm-03-03 | Lanelet width in the intersection                                 |
+|                                                                 | vm-03-04 | Lanelet creation in the intersection                              |
+|                                                                 | vm-03-05 | Lanelet division in the intersection                              |
+|                                                                 | vm-03-06 | Guide lines in the intersection                                   |
+|                                                                 | vm-03-07 | Multiple lanelets in the intersection                             |
+|                                                                 | vm-03-08 | Intersection Area range                                           |
+|                                                                 | vm-03-09 | Range of Lanelet in the intersection                              |
+|                                                                 | vm-03-10 | Right of way (with signal)                                        |
+|                                                                 | vm-03-11 | Right of way (without signal)                                     |
+|                                                                 | vm-03-12 | Right of way supplements                                          |
+|                                                                 | vm-03-13 | Merging from private area, sidewalk                               |
+|                                                                 | vm-03-14 | Road marking                                                      |
+|                                                                 | vm-03-15 | Exclusive bicycle lane                                            |
+| [Category Traffic Light](./category_traffic_light.md) | vm-04-01 | Traffic light basics                                              |
+|                                                                 | vm-04-02 | Traffic light position and size                                   |
+|                                                                 | vm-04-03 | Traffic light lamps                                               |
+| [Category Crosswalk](./category_crosswalk.md)         | vm-05-01 | Crosswalks across the road                                        |
+|                                                                 | vm-05-02 | Crosswalks with pedestrian signals                                |
+|                                                                 | vm-05-03 | Deceleration for safety at crosswalks                             |
+|                                                                 | vm-05-04 | Fences                                                            |
+| [Category Area](./category_area.md)                   | vm-06-01 | Buffer Zone                                                       |
+|                                                                 | vm-06-02 | No parking signs                                                  |
+|                                                                 | vm-06-03 | No stopping signs                                                 |
+|                                                                 | vm-06-04 | No stopping sections                                              |
+|                                                                 | vm-06-05 | Detection area                                                    |
+| [Category Others](./category_others.md)               | vm-07-01 | Vector Map creation range                                         |
+|                                                                 | vm-07-02 | Range of detecting pedestrians who enter the road                 |
+|                                                                 | vm-07-03 | Guardrails, guard pipes, fences                                   |
+|                                                                 | vm-07-04 | Ellipsoidal height                                                |

From 77b541197392dec88885f4919e146e18dbe31d8f Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 26 Jun 2024 08:19:59 +0000
Subject: [PATCH 02/20] style(pre-commit): autofix

---
 .../map/map-requirements/category_area.md     |   4 +-
 .../map-requirements/category_crosswalk.md    |   2 +-
 .../map-requirements/category_intersection.md |   2 +-
 .../map/map-requirements/category_lane.md     |   6 +-
 .../map/map-requirements/category_others.md   |   2 +-
 .../map-requirements/category_stop_line.md    |   2 +-
 .../map/map-requirements/overview.md          | 112 +++++++++---------
 7 files changed, 63 insertions(+), 67 deletions(-)

diff --git a/docs/design/autoware-architecture/map/map-requirements/category_area.md b/docs/design/autoware-architecture/map/map-requirements/category_area.md
index bcb435d4770..c76eb961bb5 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_area.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_area.md
@@ -15,9 +15,7 @@ Create a Polygon (_type:hatched_road_markings_) when a Buffer Zone (also known a
 
 In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area and proceeds through it.
 
-!!! Caution
-    - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas.
-    - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
+!!! Caution - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
 
 ![svg](./assets/vm-06-01_1.svg)
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
index 2db632ae799..196e4c881ff 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
@@ -116,4 +116,4 @@ None in particular.
 
 #### Related Autoware module
 
-- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/)
\ No newline at end of file
+- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
index f82e96a271a..960b19e9a5a 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
@@ -420,4 +420,4 @@ None in particular.
 
 #### Related Autoware module
 
-- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
\ No newline at end of file
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
index a160449d74a..393d8180a45 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_lane.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
@@ -224,7 +224,7 @@ Autoware is designed to move through the midpoint calculated from a Lanelet's le
 Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.
 
 !!!Caution
-    'Centerline' is a distinct concept from the central lane division line (centerline).
+'Centerline' is a distinct concept from the central lane division line (centerline).
 
 ![svg](./assets/vm-01-10_1.svg)
 
@@ -306,7 +306,7 @@ Requirement for Vector Map creation:
 
 - Stack two Lanelets together.
 
-##### Supplementary information:
+##### Supplementary information
 
 - The application of this case depends on local operational policies and vehicle specifications, and should be determined in discussion with the map requestor.
 - The current Autoware does not possess the capability to pass oncoming vehicles in shared lanes.
@@ -450,4 +450,4 @@ None in particular.
 #### Related Autoware module
 
 - [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
-- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/)
\ No newline at end of file
+- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_others.md b/docs/design/autoware-architecture/map/map-requirements/category_others.md
index d1dac3a41d7..2abe4fdb287 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_others.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_others.md
@@ -77,7 +77,7 @@ Follow the same position guidelines for Linestrings of fences (_type:fence_).
 
 #### Related Autoware module
 
-- [Drivable Area design -  Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/)
+- [Drivable Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/)
 
 ---
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
index 61ee74f6e65..d5014c2e970 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
@@ -42,4 +42,4 @@ None in particular.
 
 #### Related Autoware module
 
-- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/)
\ No newline at end of file
+- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/overview.md
index a0a23b5a40d..cbd44f1d522 100644
--- a/docs/design/autoware-architecture/map/map-requirements/overview.md
+++ b/docs/design/autoware-architecture/map/map-requirements/overview.md
@@ -20,63 +20,61 @@ Which requirements apply entirely depends on the configuration of the Autoware s
 
 Next, you must comply with the laws of the country where the autonomous driving vehicle will be operating. It is your responsibility to choose which of the following requirements to apply according to the laws.
 
-!!!Caution
-    - The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries.
-    - The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
+!!!Caution - The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries. - The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
 
 ## List of Requirement Specifications
 
-| Category                                                        | ID       | Requirements                                                      |
-| --------------------------------------------------------------- | -------- | ----------------------------------------------------------------- |
-| [Category Lane](./category_lane.md)                   | vm-01-01 | Lanelet basics                                                    |
-|                                                                 | vm-01-02 | Allowance for lane changes                                        |
-|                                                                 | vm-01-03 | Linestring sharing                                                |
-|                                                                 | vm-01-04 | Sharing of the centerline of lanes for opposing traffic           |
-|                                                                 | vm-01-05 | Lane geometry                                                     |
-|                                                                 | vm-01-06 | Line position (1)                                                 |
-|                                                                 | vm-01-07 | Line position (2)                                                 |
-|                                                                 | vm-01-08 | Line position (3)                                                 |
-|                                                                 | vm-01-09 | Speed limits                                                      |
-|                                                                 | vm-01-10 | Centerline                                                        |
-|                                                                 | vm-01-11 | Centerline connection (1)                                         |
-|                                                                 | vm-01-12 | Centerline connection (2)                                         |
-|                                                                 | vm-01-13 | Roads with no centerline (1)                                      |
-|                                                                 | vm-01-14 | Roads with no centerline (2)                                      |
-|                                                                 | vm-01-15 | Road shoulder                                                     |
-|                                                                 | vm-01-16 | Road shoulder Linestring sharing                                  |
-|                                                                 | vm-01-17 | Side strip                                                        |
-|                                                                 | vm-01-18 | Side strip Linestring sharing                                     |
-|                                                                 | vm-01-19 | Walkway                                                           |
-| [Category Stop Line](./category_stop_line.md)         | vm-02-01 | Stop line alignment                                               |
-|                                                                 | vm-02-02 | Stop sign                                                         |
-| [Category Intersection](./category_intersection.md)   | vm-03-01 | Intersection criteria                                             |
-|                                                                 | vm-03-02 | Lanelet's turn direction and virtual                              |
-|                                                                 | vm-03-03 | Lanelet width in the intersection                                 |
-|                                                                 | vm-03-04 | Lanelet creation in the intersection                              |
-|                                                                 | vm-03-05 | Lanelet division in the intersection                              |
-|                                                                 | vm-03-06 | Guide lines in the intersection                                   |
-|                                                                 | vm-03-07 | Multiple lanelets in the intersection                             |
-|                                                                 | vm-03-08 | Intersection Area range                                           |
-|                                                                 | vm-03-09 | Range of Lanelet in the intersection                              |
-|                                                                 | vm-03-10 | Right of way (with signal)                                        |
-|                                                                 | vm-03-11 | Right of way (without signal)                                     |
-|                                                                 | vm-03-12 | Right of way supplements                                          |
-|                                                                 | vm-03-13 | Merging from private area, sidewalk                               |
-|                                                                 | vm-03-14 | Road marking                                                      |
-|                                                                 | vm-03-15 | Exclusive bicycle lane                                            |
-| [Category Traffic Light](./category_traffic_light.md) | vm-04-01 | Traffic light basics                                              |
-|                                                                 | vm-04-02 | Traffic light position and size                                   |
-|                                                                 | vm-04-03 | Traffic light lamps                                               |
-| [Category Crosswalk](./category_crosswalk.md)         | vm-05-01 | Crosswalks across the road                                        |
-|                                                                 | vm-05-02 | Crosswalks with pedestrian signals                                |
-|                                                                 | vm-05-03 | Deceleration for safety at crosswalks                             |
-|                                                                 | vm-05-04 | Fences                                                            |
-| [Category Area](./category_area.md)                   | vm-06-01 | Buffer Zone                                                       |
-|                                                                 | vm-06-02 | No parking signs                                                  |
-|                                                                 | vm-06-03 | No stopping signs                                                 |
-|                                                                 | vm-06-04 | No stopping sections                                              |
-|                                                                 | vm-06-05 | Detection area                                                    |
-| [Category Others](./category_others.md)               | vm-07-01 | Vector Map creation range                                         |
-|                                                                 | vm-07-02 | Range of detecting pedestrians who enter the road                 |
-|                                                                 | vm-07-03 | Guardrails, guard pipes, fences                                   |
-|                                                                 | vm-07-04 | Ellipsoidal height                                                |
+| Category                                              | ID       | Requirements                                            |
+| ----------------------------------------------------- | -------- | ------------------------------------------------------- |
+| [Category Lane](./category_lane.md)                   | vm-01-01 | Lanelet basics                                          |
+|                                                       | vm-01-02 | Allowance for lane changes                              |
+|                                                       | vm-01-03 | Linestring sharing                                      |
+|                                                       | vm-01-04 | Sharing of the centerline of lanes for opposing traffic |
+|                                                       | vm-01-05 | Lane geometry                                           |
+|                                                       | vm-01-06 | Line position (1)                                       |
+|                                                       | vm-01-07 | Line position (2)                                       |
+|                                                       | vm-01-08 | Line position (3)                                       |
+|                                                       | vm-01-09 | Speed limits                                            |
+|                                                       | vm-01-10 | Centerline                                              |
+|                                                       | vm-01-11 | Centerline connection (1)                               |
+|                                                       | vm-01-12 | Centerline connection (2)                               |
+|                                                       | vm-01-13 | Roads with no centerline (1)                            |
+|                                                       | vm-01-14 | Roads with no centerline (2)                            |
+|                                                       | vm-01-15 | Road shoulder                                           |
+|                                                       | vm-01-16 | Road shoulder Linestring sharing                        |
+|                                                       | vm-01-17 | Side strip                                              |
+|                                                       | vm-01-18 | Side strip Linestring sharing                           |
+|                                                       | vm-01-19 | Walkway                                                 |
+| [Category Stop Line](./category_stop_line.md)         | vm-02-01 | Stop line alignment                                     |
+|                                                       | vm-02-02 | Stop sign                                               |
+| [Category Intersection](./category_intersection.md)   | vm-03-01 | Intersection criteria                                   |
+|                                                       | vm-03-02 | Lanelet's turn direction and virtual                    |
+|                                                       | vm-03-03 | Lanelet width in the intersection                       |
+|                                                       | vm-03-04 | Lanelet creation in the intersection                    |
+|                                                       | vm-03-05 | Lanelet division in the intersection                    |
+|                                                       | vm-03-06 | Guide lines in the intersection                         |
+|                                                       | vm-03-07 | Multiple lanelets in the intersection                   |
+|                                                       | vm-03-08 | Intersection Area range                                 |
+|                                                       | vm-03-09 | Range of Lanelet in the intersection                    |
+|                                                       | vm-03-10 | Right of way (with signal)                              |
+|                                                       | vm-03-11 | Right of way (without signal)                           |
+|                                                       | vm-03-12 | Right of way supplements                                |
+|                                                       | vm-03-13 | Merging from private area, sidewalk                     |
+|                                                       | vm-03-14 | Road marking                                            |
+|                                                       | vm-03-15 | Exclusive bicycle lane                                  |
+| [Category Traffic Light](./category_traffic_light.md) | vm-04-01 | Traffic light basics                                    |
+|                                                       | vm-04-02 | Traffic light position and size                         |
+|                                                       | vm-04-03 | Traffic light lamps                                     |
+| [Category Crosswalk](./category_crosswalk.md)         | vm-05-01 | Crosswalks across the road                              |
+|                                                       | vm-05-02 | Crosswalks with pedestrian signals                      |
+|                                                       | vm-05-03 | Deceleration for safety at crosswalks                   |
+|                                                       | vm-05-04 | Fences                                                  |
+| [Category Area](./category_area.md)                   | vm-06-01 | Buffer Zone                                             |
+|                                                       | vm-06-02 | No parking signs                                        |
+|                                                       | vm-06-03 | No stopping signs                                       |
+|                                                       | vm-06-04 | No stopping sections                                    |
+|                                                       | vm-06-05 | Detection area                                          |
+| [Category Others](./category_others.md)               | vm-07-01 | Vector Map creation range                               |
+|                                                       | vm-07-02 | Range of detecting pedestrians who enter the road       |
+|                                                       | vm-07-03 | Guardrails, guard pipes, fences                         |
+|                                                       | vm-07-04 | Ellipsoidal height                                      |

From d4967f83d1d025f378fbe9080b436a5ea476b100 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Wed, 26 Jun 2024 18:22:43 +0900
Subject: [PATCH 03/20] fix: layout issues

---
 .../map/map-requirements/category_area.md           |  4 +++-
 .../map/map-requirements/category_lane.md           | 13 +++++++------
 .../map/map-requirements/category_others.md         |  4 ++--
 .../map/map-requirements/overview.md                |  5 ++++-
 4 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/docs/design/autoware-architecture/map/map-requirements/category_area.md b/docs/design/autoware-architecture/map/map-requirements/category_area.md
index c76eb961bb5..fdb1986f606 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_area.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_area.md
@@ -15,7 +15,9 @@ Create a Polygon (_type:hatched_road_markings_) when a Buffer Zone (also known a
 
 In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area and proceeds through it.
 
-!!! Caution - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
+##### Caution
+
+- Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
 
 ![svg](./assets/vm-06-01_1.svg)
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
index 393d8180a45..d94d39f9ddd 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_lane.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
@@ -173,11 +173,11 @@ None in particular.
 
 If there are no lines on the outer side within the road, position the Linestring 0.5 m from the road's edge.
 
-!!! Caution
+![svg](./assets/vm-01-08_1.svg)
 
-    The width depends on the laws of your country.
+##### Caution
 
-![svg](./assets/vm-01-08_1.svg)
+The width depends on the laws of your country.
 
 #### Preferred vector map <!-- omit in toc -->
 
@@ -223,11 +223,12 @@ Autoware is designed to move through the midpoint calculated from a Lanelet's le
 
 Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.
 
-!!!Caution
-'Centerline' is a distinct concept from the central lane division line (centerline).
-
 ![svg](./assets/vm-01-10_1.svg)
 
+##### Caution
+
+'Centerline' is a distinct concept from the central lane division line (centerline).
+
 #### Preferred vector map <!-- omit in toc -->
 
 ![svg](./assets/vm-01-10_2.svg)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_others.md b/docs/design/autoware-architecture/map/map-requirements/category_others.md
index 2abe4fdb287..ee70acf4a79 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_others.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_others.md
@@ -19,9 +19,9 @@ Refer to [vm-03-04](./category_intersection.md#vm-03-04-lanelet-creation-in-the-
 
 Autoware detects approaching vehicles and plans a route to avoid collisions.
 
-!!! Caution
+##### Caution
 
-    Check the range of sensors on your vehicle.
+Check the range of sensors on your vehicle.
 
 #### Preferred vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/overview.md
index cbd44f1d522..22cf2788111 100644
--- a/docs/design/autoware-architecture/map/map-requirements/overview.md
+++ b/docs/design/autoware-architecture/map/map-requirements/overview.md
@@ -20,7 +20,10 @@ Which requirements apply entirely depends on the configuration of the Autoware s
 
 Next, you must comply with the laws of the country where the autonomous driving vehicle will be operating. It is your responsibility to choose which of the following requirements to apply according to the laws.
 
-!!!Caution - The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries. - The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
+### Caution
+
+- The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries.
+- The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
 
 ## List of Requirement Specifications
 

From 8012b1b31bf4f0ded043f6aa1b95e593bfbc822a Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Tue, 2 Jul 2024 09:49:29 +0900
Subject: [PATCH 04/20] fix a dead link

---
 .../autoware-architecture/map/map-requirements/overview.md      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/overview.md
index 22cf2788111..7d5064af659 100644
--- a/docs/design/autoware-architecture/map/map-requirements/overview.md
+++ b/docs/design/autoware-architecture/map/map-requirements/overview.md
@@ -6,7 +6,7 @@ Autoware relies on high-definition point cloud maps and vector maps of the drivi
 
 A vector map contains highly accurate information about a road network, lane geometry, and traffic lights. It is required for route planning, traffic light detection, and predicting the trajectories of other vehicles and pedestrians.
 
-Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md), which is based on the [lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) format and extended for Autoware.
+Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md), which is based on the [lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) format and extended for Autoware.
 
 The primitives (basic components) used in Vector Map are explained in [Web.Auto Docs - What is Lanelet2](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction#what-is-lanelet2). The following **Vector Map creation requirement specifications** are written on the premise of these knowledge.
 

From fcaa387e10d982d16a234412a5b6cddc855a8390 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Tue, 2 Jul 2024 20:35:52 +0900
Subject: [PATCH 05/20] delete an unnecessary file

---
 .../map/map-requirements/assets/vm-07-03.svg  | 166 ------------------
 1 file changed, 166 deletions(-)
 delete mode 100644 docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03.svg

diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03.svg
deleted file mode 100644
index 524171fb254..00000000000
--- a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03.svg
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-    <path
-       fill-rule="evenodd"
-       d="M 117.52791,131.89479 107.8177,137.16 Z"
-       class="g1_69"
-       id="path45"
-       style="display:block;fill:#000000;fill-opacity:0;stroke-width:0.264583" />
-    <path
-       d="M 117.52791,131.89479 107.8177,137.16"
-       class="g2_69"
-       id="path46"
-       style="display:block;fill:none;stroke:#000000;stroke-width:0.302948;stroke-linejoin:round" />
-  </g>
-</svg>

From a463059f0e18ee949cf967ecd040659e4bc00315 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Tue, 2 Jul 2024 21:05:28 +0900
Subject: [PATCH 06/20] change the folder and file structure

---
 .../design/autoware-architecture/map/index.md |  2 +-
 .../category_area.md                          | 20 ++---
 .../category_crosswalk.md                     |  8 +-
 .../category_intersection.md                  | 62 ++++++-------
 .../category_lane.md                          | 90 +++++++++----------
 .../category_others.md                        | 12 +--
 .../category_stop_line.md                     | 10 +--
 .../category_traffic_light.md                 |  8 +-
 .../index.md}                                 |  0
 9 files changed, 106 insertions(+), 106 deletions(-)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_area.md (94%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_crosswalk.md (97%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_intersection.md (93%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_lane.md (90%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_others.md (93%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_stop_line.md (89%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_traffic_light.md (96%)
 rename docs/design/autoware-architecture/map/map-requirements/{overview.md => vector-map-requirements-overview/index.md} (100%)

diff --git a/docs/design/autoware-architecture/map/index.md b/docs/design/autoware-architecture/map/index.md
index 5e337af5612..f75dd804b21 100644
--- a/docs/design/autoware-architecture/map/index.md
+++ b/docs/design/autoware-architecture/map/index.md
@@ -87,7 +87,7 @@ The vector cloud map must be supplied as a file with the following requirements:
 - Each lanelet in the map must contain traffic rule information including its speed limit, right of way, traffic direction, associated traffic lights, stop lines, and traffic signs.
 - It must cover the entire operational area of the vehicle.
 
-For detailed specifications on Vector Map creation, please refer to [Vector Map Creation Requirement Specification document](./map-requirements/overview.md).
+For detailed specifications on Vector Map creation, please refer to [Vector Map Creation Requirement Specification document](./map-requirements/vector-map-requirements-overview/index.md).
 
 ### Projection Information
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_area.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md
similarity index 94%
rename from docs/design/autoware-architecture/map/map-requirements/category_area.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md
index fdb1986f606..6e5be9c1e0e 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_area.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md
@@ -19,13 +19,13 @@ In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area
 
 - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
 
-![svg](./assets/vm-06-01_1.svg)
+![svg](../assets/vm-06-01_1.svg)
 
-![svg](./assets/vm-06-01_2.svg)
+![svg](../assets/vm-06-01_2.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-01_3.svg)
+![svg](../assets/vm-06-01_3.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -52,11 +52,11 @@ Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web
 
 Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there.
 
-![svg](./assets/vm-06-02_1.svg)
+![svg](../assets/vm-06-02_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-02_2.svg)
+![svg](../assets/vm-06-02_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -82,11 +82,11 @@ Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web
 
 Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there.
 
-![svg](./assets/vm-06-03_1.svg)
+![svg](../assets/vm-06-03_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-03_2.svg)
+![svg](../assets/vm-06-03_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -112,11 +112,11 @@ Refer to [Web.Auto Documentation - Creation of No Stopping Area](https://docs.we
 
 The vehicle does not make temporary stops in _no_stopping_area_. Since goals cannot be set in _no_stopping_area_, the vehicle cannot park there.
 
-![svg](./assets/vm-06-04_1.svg)
+![svg](../assets/vm-06-04_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-04_2.svg)
+![svg](../assets/vm-06-04_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -140,7 +140,7 @@ Refer to [Web.Auto Documentation - Creation of Detection Area](https://docs.web.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-05_1.svg)
+![svg](../assets/vm-06-05_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md
similarity index 97%
rename from docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md
index 196e4c881ff..20c956d6f8f 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md
@@ -31,7 +31,7 @@ When pedestrians or cyclists are on the crosswalk, Autoware will come to a stop
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-01_1.svg)
+![svg](../assets/vm-05-01_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -61,7 +61,7 @@ Refer to [vm-04-02](./category_traffic_light.md#vm-04-02-traffic-light-position-
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-02_1.svg)
+![svg](../assets/vm-05-02_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -84,7 +84,7 @@ To ensure a constant deceleration to a safe speed when traversing a crosswalk, a
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-03_2.svg)
+![svg](../assets/vm-05-03_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -108,7 +108,7 @@ However, if there is a guardrail, wall, or fence between the road and sidewalk,
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-04_1.svg)
+![svg](../assets/vm-05-04_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md
similarity index 93%
rename from docs/design/autoware-architecture/map/map-requirements/category_intersection.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md
index 960b19e9a5a..31ace0cfec7 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md
@@ -59,11 +59,11 @@ Autoware will start flashing the turn signals (blinkers) 30 meters as default be
 - key: _turn_signal_distance_
 - value: numerical value (m)
 
-![svg](./assets/vm-03-02_1.svg)
+![svg](../assets/vm-03-02_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-02_2.svg)
+![svg](../assets/vm-03-02_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -85,15 +85,15 @@ Lanelets in the intersection should have a consistent width. Additionally, draw
 
 The shape of this curve must be determined by the Vector Map creator.
 
-![svg](./assets/vm-03-03_1.svg)
+![svg](../assets/vm-03-03_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-03_2.svg)
+![svg](../assets/vm-03-03_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-03_3.svg)
+![svg](../assets/vm-03-03_3.svg)
 
 ---
 
@@ -109,15 +109,15 @@ Refer also to the creation scope [vm-07-01](./category_others.md#vm-07-01-vector
 
 Autoware uses lanelets to predict the movements of other vehicles and plan the vehicle's velocity accordingly. Therefore, it is necessary to create all lanelets in the intersection.
 
-![svg](./assets/vm-03-04_1.svg)
+![svg](../assets/vm-03-04_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-04_2.svg)
+![svg](../assets/vm-03-04_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-04_3.svg)
+![svg](../assets/vm-03-04_3.svg)
 
 #### Related Autoware module
 
@@ -131,15 +131,15 @@ Autoware uses lanelets to predict the movements of other vehicles and plan the v
 
 Create the Lanelets in the intersection as a single object without dividing them.
 
-![svg](./assets/vm-03-05_1.svg)
+![svg](../assets/vm-03-05_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-05_2.svg)
+![svg](../assets/vm-03-05_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-03_3.svg)
+![svg](../assets/vm-03-03_3.svg)
 
 #### Related Autoware module
 
@@ -155,11 +155,11 @@ If there are guide lines in the intersection, draw the Lanelet following them.
 
 In cases where the Lanelets branches off, begin the branching at the end of the guide line. However, it is not necessary to share points or linestrings between Lanelets.
 
-![svg](./assets/vm-03-06_1.svg)
+![svg](../assets/vm-03-06_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-06_2.svg)
+![svg](../assets/vm-03-06_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -177,15 +177,15 @@ None in particular.
 
 When connecting multiple lanes with Lanelets at an intersection, those Lanelets should be made adjacent to each other without crossing.
 
-![svg](./assets/vm-03-07_1.svg)
+![svg](../assets/vm-03-07_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-07_2.svg)
+![svg](../assets/vm-03-07_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-07_3.svg)
+![svg](../assets/vm-03-07_3.svg)
 
 #### Related Autoware module
 
@@ -204,7 +204,7 @@ Encircle the intersection's drivable area with a Polygon (_type:intersection_are
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-08_1.svg)
+![svg](../assets/vm-03-08_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -233,7 +233,7 @@ Determine the start and end positions of lanelets in the intersection (hencefort
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-09_1.svg)
+![svg](../assets/vm-03-09_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -257,17 +257,17 @@ Set the regulatory element 'right_of_way' for Lanelets that meet all of the foll
 
 Set to _yield_ those lanelets in the intersection that intersect the vehicle's lanelet, and set to _yield_ those lanelets that do not share the same signal change timing with the vehicle. Also, if the vehicle is turning left, set the opposing vehicle's right-turn lane to _yield_. There is no need to set _yield_ for lanelets where the vehicle goes straight (_turn_direction:straight_).
 
-![svg](./assets/vm-03-10_1.svg)
+![svg](../assets/vm-03-10_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
 ##### The vehicle turns left <!-- omit in toc -->
 
-![svg](./assets/vm-03-10_2.svg)
+![svg](../assets/vm-03-10_2.svg)
 
 ##### The vehicle turns right <!-- omit in toc -->
 
-![svg](./assets/vm-03-10_3.svg)
+![svg](../assets/vm-03-10_3.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -289,19 +289,19 @@ Set the regulatory element 'right_of_way' for Lanelets that meet all of the foll
 - Lanelets that intersect with the vehicle's lanelet.
 - There are **no** traffic lights at the intersection.
 
-![svg](./assets/vm-03-11_1.svg)
+![svg](../assets/vm-03-11_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
 ##### ① The vehicle on the priority lane <!-- omit in toc -->
 
-![svg](./assets/vm-03-11_2.svg)
+![svg](../assets/vm-03-11_2.svg)
 
 ##### ② The vehicle on the non-priority lane <!-- omit in toc -->
 
 A regulatory element is not necessary. However, when the vehicle goes straight, it has relative priority over other vehicles turning right from the opposing non-priority road. Therefore, settings for _right_of_way_ and _yield_ are required in this case.
 
-![svg](./assets/vm-03-11_3.svg)
+![svg](../assets/vm-03-11_3.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -350,11 +350,11 @@ When a road, which enters or exits private property, intersects with a sidewalk,
 - The vehicle stops temporarily before entering the sidewalk.
 - The vehicle comes to a stop before merging onto the public road.
 
-![svg](./assets/vm-03-13_1.svg)
+![svg](../assets/vm-03-13_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-13_2.svg)
+![svg](../assets/vm-03-13_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -378,11 +378,11 @@ If there is a stop line ahead of the guide lines in the intersection, ensure the
 
 Refer to [Web.Auto Documentation - Creation of Regulatory Element](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-regulatory-element) for the method of creation in Vector Map Builder.
 
-![svg](./assets/vm-03-14_1.svg)
+![svg](../assets/vm-03-14_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-14_2.svg)
+![svg](../assets/vm-03-14_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -406,13 +406,13 @@ In addition, set _lane_change = no_ as OptionalTags.
 
 The blind spot (entanglement check) feature verifies the lanelet(subtype:road) and decides if the vehicle can proceed.
 
-![png](./assets/vm-03-15_1.png)
+![png](../assets/vm-03-15_1.png)
 
-![svg](./assets/vm-03-15_2.svg)
+![svg](../assets/vm-03-15_2.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-15_3.svg)
+![svg](../assets/vm-03-15_3.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md
similarity index 90%
rename from docs/design/autoware-architecture/map/map-requirements/category_lane.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md
index d94d39f9ddd..c5e1177a5f2 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_lane.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md
@@ -19,7 +19,7 @@ The road's Lanelets must comply with the following requirements.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![lanelet](./assets/vm-01-01.svg)
+![lanelet](../assets/vm-01-01.svg)
 
 ---
 
@@ -43,7 +43,7 @@ Set the Linestring _subtype_ according to the type of line.
 - White solid lines : indicate that changing lanes and overtaking are allowed.
 - Yellow solid lines : mean no lane changes are allowed.
 
-![lines](./assets/vm-01-02.svg)
+![lines](../assets/vm-01-02.svg)
 
 #### Related Autoware module
 
@@ -68,15 +68,15 @@ If the Lanelet adjacent to the one the vehicle is driving on shares a Linestring
 - The vehicle turns a curve while slightly extending out of the lane.
 - Lane changes
 
-![lines](./assets/vm-01-03_1.svg)
+![lines](../assets/vm-01-03_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![lines](./assets/vm-01-03_2.svg)
+![lines](../assets/vm-01-03_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![lines](./assets/vm-01-03_3.svg)
+![lines](../assets/vm-01-03_3.svg)
 
 #### Related Autoware module
 
@@ -97,15 +97,15 @@ When the vehicle's lanelet and the opposing lanelet physically touch, the road c
 
 Obstacle avoidance across the opposing lane is possible.
 
-![svg](./assets/vm-01-04_1.svg)
+![svg](../assets/vm-01-04_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-04_2.svg)
+![svg](../assets/vm-01-04_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-04_3.svg)
+![svg](../assets/vm-01-04_3.svg)
 
 ---
 
@@ -119,15 +119,15 @@ The geometry of the road lanelet needs to comply with the following:
 - The lines of a Lanelet, which join with lanelets ahead and behind it, must form straight lines.
 - Ensure the outline is smooth and not jagged or bumpy, except for L-shaped cranks.
 
-![svg](./assets/vm-01-05_1.svg)
+![svg](../assets/vm-01-05_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-05_2.svg)
+![svg](../assets/vm-01-05_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-05_3.svg)
+![svg](../assets/vm-01-05_3.svg)
 
 ---
 
@@ -137,15 +137,15 @@ The geometry of the road lanelet needs to comply with the following:
 
 Ensure the road's center line Linestring is located in the exact middle of the road markings.
 
-![svg](./assets/vm-01-06_1.svg)
+![svg](../assets/vm-01-06_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-06_2.svg)
+![svg](../assets/vm-01-06_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-06_3.svg)
+![svg](../assets/vm-01-06_3.svg)
 
 ---
 
@@ -155,11 +155,11 @@ Ensure the road's center line Linestring is located in the exact middle of the r
 
 Place the Linestring at the center of the markings when lines exist outside the road.
 
-![svg](./assets/vm-01-07_1.svg)
+![svg](../assets/vm-01-07_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-07_2.svg)
+![svg](../assets/vm-01-07_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -173,7 +173,7 @@ None in particular.
 
 If there are no lines on the outer side within the road, position the Linestring 0.5 m from the road's edge.
 
-![svg](./assets/vm-01-08_1.svg)
+![svg](../assets/vm-01-08_1.svg)
 
 ##### Caution
 
@@ -181,7 +181,7 @@ The width depends on the laws of your country.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-08_2.svg)
+![svg](../assets/vm-01-08_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -203,11 +203,11 @@ Note that the following is achieved through Autoware's settings and behavior.
 - Vehicle's maximum velocity
 - Speed adjustment at places requiring deceleration, like curves and downhill areas.
 
-![svg](./assets/vm-01-09_1.svg)
+![svg](../assets/vm-01-09_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-09_2.svg)
+![svg](../assets/vm-01-09_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -223,7 +223,7 @@ Autoware is designed to move through the midpoint calculated from a Lanelet's le
 
 Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.
 
-![svg](./assets/vm-01-10_1.svg)
+![svg](../assets/vm-01-10_1.svg)
 
 ##### Caution
 
@@ -231,11 +231,11 @@ Create a centerline for the Lanelet when there is a need to shift the driving po
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-10_2.svg)
+![svg](../assets/vm-01-10_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-10_3.svg)
+![svg](../assets/vm-01-10_3.svg)
 
 ---
 
@@ -245,15 +245,15 @@ Create a centerline for the Lanelet when there is a need to shift the driving po
 
 When center lines have been added to several Lanelets, they should be connected.
 
-![svg](./assets/vm-01-11_1.svg)
+![svg](../assets/vm-01-11_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-11_2.svg)
+![svg](../assets/vm-01-11_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-11_3.svg)
+![svg](../assets/vm-01-11_3.svg)
 
 ---
 
@@ -263,15 +263,15 @@ When center lines have been added to several Lanelets, they should be connected.
 
 If a Lanelet with an added centerline is connected to Lanelets without one, ensure the start and end points of the added centerline are positioned at the Lanelet's center. Ensure the centerline has a smooth shape for drivability.
 
-![svg](./assets/vm-01-12_1.svg)
+![svg](../assets/vm-01-12_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-12_2.svg)
+![svg](../assets/vm-01-12_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-12_3.svg)
+![svg](../assets/vm-01-12_3.svg)
 
 ---
 
@@ -281,11 +281,11 @@ If a Lanelet with an added centerline is connected to Lanelets without one, ensu
 
 When a road lacks a central line but is wide enough for one's vehicle and oncoming vehicles to pass each other, Lanelets should be positioned next to each other at the center of the road.
 
-![svg](./assets/vm-01-13_1.svg)
+![svg](../assets/vm-01-13_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-13_2.svg)
+![svg](../assets/vm-01-13_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -312,15 +312,15 @@ Requirement for Vector Map creation:
 - The application of this case depends on local operational policies and vehicle specifications, and should be determined in discussion with the map requestor.
 - The current Autoware does not possess the capability to pass oncoming vehicles in shared lanes.
 
-![svg](./assets/vm-01-14_1.svg)
+![svg](../assets/vm-01-14_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-14_2.svg)
+![svg](../assets/vm-01-14_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-14_3.svg)
+![svg](../assets/vm-01-14_3.svg)
 
 ---
 
@@ -348,17 +348,17 @@ A road Lanelet must be next to the shoulder Lanelet.
 
 _tag:lane_change=yes_ is not required on the Linestring marking the boundary of the shoulder.
 
-![svg](./assets/vm-01-15_1.svg)
+![svg](../assets/vm-01-15_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-15_2.svg)
+![svg](../assets/vm-01-15_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
 Do not create a road shoulder Lanelet for roads without a shoulder.
 
-![svg](./assets/vm-01-15_3.svg)
+![svg](../assets/vm-01-15_3.svg)
 
 #### Related Autoware module
 
@@ -374,11 +374,11 @@ Do not create a road shoulder Lanelet for roads without a shoulder.
 
 The Lanelets for the road shoulder and the adjacent road should have a common Linestring.
 
-![svg](./assets/vm-01-15_1.svg)
+![svg](../assets/vm-01-15_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-16_2.svg)
+![svg](../assets/vm-01-16_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -400,11 +400,11 @@ Place a Lanelet (_subtype:pedestrian_lane_) on the side strip. However, it is no
 
 The side strip's Lanelet must have the Linestring (_subtype:road_border_) outside.
 
-![svg](./assets/vm-01-17_1.svg)
+![svg](../assets/vm-01-17_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-17_2.svg)
+![svg](../assets/vm-01-17_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -418,11 +418,11 @@ None in particular.
 
 The Lanelet for the side strip and the adjacent road Lanelet should have a common Linestring.
 
-![svg](./assets/vm-01-17_1.svg)
+![svg](../assets/vm-01-17_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-18_2.svg)
+![svg](../assets/vm-01-18_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -438,11 +438,11 @@ Place a sidewalk Lanelet (_subtype:walkway_) where necessary. However, install o
 
 The length of the lanelet (_subtype:walkway_) should be the area intersecting with your lane and additional 3 meters before and after.
 
-![svg](./assets/vm-01-19_1.svg)
+![svg](../assets/vm-01-19_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-19_2.svg)
+![svg](../assets/vm-01-19_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_others.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md
similarity index 93%
rename from docs/design/autoware-architecture/map/map-requirements/category_others.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md
index ee70acf4a79..c51a1f465cc 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_others.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md
@@ -25,11 +25,11 @@ Check the range of sensors on your vehicle.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-07-01_1.svg)
+![svg](../assets/vm-07-01_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-07-01_2.svg)
+![svg](../assets/vm-07-01_2.svg)
 
 ---
 
@@ -47,7 +47,7 @@ Setting up a linestring of the following type instructs Autoware to disregard th
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-04_1.svg)
+![svg](../assets/vm-05-04_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -69,11 +69,11 @@ Follow the same position guidelines for Linestrings of fences (_type:fence_).
 
 #### Preferred vector map <!-- omit in toc -->
 
-![png](./assets/vm-07-03_1.png)
+![png](../assets/vm-07-03_1.png)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![png](./assets/vm-07-03_2.png)
+![png](../assets/vm-07-03_2.png)
 
 #### Related Autoware module
 
@@ -87,7 +87,7 @@ Follow the same position guidelines for Linestrings of fences (_type:fence_).
 
 The height of a Point should be based on the ellipsoidal height (WGS84), in meters.
 
-![svg](./assets/vm-07-04_height_en.svg)
+![svg](../assets/vm-07-04_height_en.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md
similarity index 89%
rename from docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md
index d5014c2e970..d58ecb11c99 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md
@@ -10,15 +10,15 @@ Place the Linestring (_type:stop_line_) for the stop line on the edge on the sid
 
 Refer to [Web.Auto Documentation - Creation and edit of a stop point (StopPoint)](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-and-edit-of-a-stop-point-stoppoint) for the method of creation in Vector Map Builder.
 
-![svg](./assets/vm-02-01_1.svg)
+![svg](../assets/vm-02-01_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-02-01_2.svg)
+![svg](../assets/vm-02-01_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-02-01_3.svg)
+![svg](../assets/vm-02-01_3.svg)
 
 ---
 
@@ -30,11 +30,11 @@ Where there is no stop line on the road but a stop sign exists, place a Linestri
 
 Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:traffic_sign_), and have this Regulatory Element refer to a Linestring (_type:stop_line_) and a Linestring (_type:traffic_sign, subtype:stop_sign)_.
 
-![svg](./assets/vm-02-02_1.svg)
+![svg](../assets/vm-02-02_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-02-02_2.svg)
+![svg](../assets/vm-02-02_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md
similarity index 96%
rename from docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md
index 5ede232e917..a9e981be05d 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md
@@ -21,11 +21,11 @@ Refer to vm-04-02 and vm-04-03 for the specifications of traffic light and traff
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-04-01_1.svg)
+![svg](../assets/vm-04-01_1.svg)
 
 If there is a crosswalk at the intersection, arrange for the road's Lanelet and the crosswalk's Lanelet to intersect and overlap.
 
-![svg](./assets/vm-04-01_2.svg)
+![svg](../assets/vm-04-01_2.svg)
 
 #### Related Autoware module
 
@@ -52,7 +52,7 @@ Autoware currently ignores subtype _red_yellow_green_.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-04-02_1.svg)
+![svg](../assets/vm-04-02_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -79,7 +79,7 @@ Use the Points of the lights when creating a Linestring.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-04-03_1.svg)
+![svg](../assets/vm-04-03_1.svg)
 
 The order of the lights' Points can be 1→2→3→4 or 4→3→2→1, either is acceptable.
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md
similarity index 100%
rename from docs/design/autoware-architecture/map/map-requirements/overview.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md

From 69fe00e91bec9d2794ef9e7a1091442c8d1ed382 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Wed, 3 Jul 2024 16:34:30 +0900
Subject: [PATCH 07/20] improve a link to map creation

---
 .../vector-map-requirements-overview/index.md                 | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md
index 7d5064af659..fc2e01a7ffc 100644
--- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md
@@ -10,9 +10,7 @@ Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autow
 
 The primitives (basic components) used in Vector Map are explained in [Web.Auto Docs - What is Lanelet2](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction#what-is-lanelet2). The following **Vector Map creation requirement specifications** are written on the premise of these knowledge.
 
-This specification is a set of requirements for the creation of Vector Map(s) to ensure that Autoware drives safely and autonomously as intended by the user. It does not cover how to operate specific map creation tools.
-
-- [Vector Map Builder - how to use](https://docs.web.auto/user-manuals/vector-map-builder/how-to-use/edit-maps)
+This specification is a set of requirements for the creation of Vector Map(s) to ensure that Autoware drives safely and autonomously as intended by the user. To Create a Lanelet2 format .osm file, please refer to [Creating a vector map](https://autowarefoundation.github.io/autoware-documentation/latest/how-to-guides/integrating-autoware/creating-maps/#creating-a-vector-map).
 
 ## Handling of the Requirement Specification
 

From 4424707161cd2074e072d669d1766394fd01b326 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Wed, 26 Jun 2024 17:15:41 +0900
Subject: [PATCH 08/20] feat: vector map requirement proposal

Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .cspell.json                                  |    2 +-
 .../design/autoware-architecture/map/index.md |    4 +-
 .../map/map-requirements/assets/vm-01-01.svg  |  168 ++
 .../map/map-requirements/assets/vm-01-02.svg  |  194 ++
 .../map-requirements/assets/vm-01-03_1.svg    |  265 ++
 .../map-requirements/assets/vm-01-03_2.svg    |  257 ++
 .../map-requirements/assets/vm-01-03_3.svg    |  318 +++
 .../map-requirements/assets/vm-01-04_1.svg    |  631 +++++
 .../map-requirements/assets/vm-01-04_2.svg    |  246 ++
 .../map-requirements/assets/vm-01-04_3.svg    |  314 +++
 .../map-requirements/assets/vm-01-05_1.svg    |  415 +++
 .../map-requirements/assets/vm-01-05_2.svg    |  178 ++
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 .../map-requirements/assets/vm-01-06_2.svg    |  109 +
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 .../map-requirements/assets/vm-07-03_1.png    |  Bin 0 -> 154615 bytes
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 .../assets/vm-07-04_height_en.svg             |  188 ++
 .../map/map-requirements/category_area.md     |  151 +
 .../map-requirements/category_crosswalk.md    |  119 +
 .../map-requirements/category_intersection.md |  423 +++
 .../map/map-requirements/category_lane.md     |  453 +++
 .../map/map-requirements/category_others.md   |   98 +
 .../map-requirements/category_stop_line.md    |   45 +
 .../category_traffic_light.md                 |   92 +
 .../map/map-requirements/overview.md          |   82 +
 113 files changed, 53340 insertions(+), 4 deletions(-)
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diff --git a/.cspell.json b/.cspell.json
index 0cd761eb370..3ea0e5c9222 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -1,3 +1,3 @@
 {
-  "words": ["ISCLOAM"]
+  "words": ["ISCLOAM", "georeferenced", "MGRS"]
 }
diff --git a/docs/design/autoware-architecture/map/index.md b/docs/design/autoware-architecture/map/index.md
index b5607e5196d..5e337af5612 100644
--- a/docs/design/autoware-architecture/map/index.md
+++ b/docs/design/autoware-architecture/map/index.md
@@ -87,9 +87,7 @@ The vector cloud map must be supplied as a file with the following requirements:
 - Each lanelet in the map must contain traffic rule information including its speed limit, right of way, traffic direction, associated traffic lights, stop lines, and traffic signs.
 - It must cover the entire operational area of the vehicle.
 
-!!! warning
-
-    Under Construction
+For detailed specifications on Vector Map creation, please refer to [Vector Map Creation Requirement Specification document](./map-requirements/overview.md).
 
 ### Projection Information
 
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+       fill-rule="evenodd"
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diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-05-03_2.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-05-03_2.svg
new file mode 100644
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diff --git a/docs/design/autoware-architecture/map/map-requirements/category_area.md b/docs/design/autoware-architecture/map/map-requirements/category_area.md
new file mode 100644
index 00000000000..bcb435d4770
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_area.md
@@ -0,0 +1,151 @@
+## Category:Area
+
+---
+
+### vm-06-01 Buffer Zone
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create a Polygon (_type:hatched_road_markings_) when a Buffer Zone (also known as a zebra zone) is painted on the road surface.
+
+- If the Buffer Zone is next to a Lanelet, share Points between them.
+- Overlap the Buffer Zone's Polygon with the intersection's Polygon (intersection_area) if the Buffer Zone is located at an intersection.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area and proceeds through it.
+
+!!! Caution
+    - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas.
+    - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
+
+![svg](./assets/vm-06-01_1.svg)
+
+![svg](./assets/vm-06-01_2.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-01_3.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+
+---
+
+### vm-06-02 No parking signs
+
+#### Detail of requirements <!-- omit in toc -->
+
+When creating a Vector Map, you can prohibit parking in specific areas, while temporary stops are permitted.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_parking_area_), and have this Regulatory Element refer to a Polygon (_type:no_parking_area_).
+
+Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-parking-area) for the method of creation in Vector Map Builder.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there.
+
+![svg](./assets/vm-06-02_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-02_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+
+---
+
+### vm-06-03 No stopping signs
+
+#### Detail of requirements <!-- omit in toc -->
+
+When creating a Vector Map, you can prohibit stopping in specific areas, while temporary stops are permitted.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_parking_area_), and have this Regulatory Element refer to a Polygon (_type:no_parking_area_).
+
+Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-parking-area) for the method of creation in Vector Map Builder.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there.
+
+![svg](./assets/vm-06-03_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-03_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+
+---
+
+### vm-06-04 No stopping sections
+
+#### Detail of requirements <!-- omit in toc -->
+
+While vehicles may stop on the road for signals or traffic congestion, you can prohibit any form of stopping (temporary stopping, parking, idling) in specific areas when creating a Vector Map.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:no_stopping_area_), and have this Regulatory Element refer to a Polygon (_type:no_stopping_area_).
+
+Refer to [Web.Auto Documentation - Creation of No Stopping Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-no-stopping-area) for the method of creation in Vector Map Builder.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+The vehicle does not make temporary stops in _no_stopping_area_. Since goals cannot be set in _no_stopping_area_, the vehicle cannot park there.
+
+![svg](./assets/vm-06-04_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-04_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [No Stopping Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/)
+
+---
+
+### vm-06-05 Detection area
+
+#### Detail of requirements <!-- omit in toc -->
+
+Autoware identifies obstacles by detecting point clouds in the Detection Area, leading to a stop at the stop line and maintaining that stop until the obstacles move away. To enable this response, incorporate the Detection Area element into the Vector Map.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:detection_area_), and have this Regulatory Element refer to a Polygon (_type:detection_area_) and a Linestring (_type:stop_line_).
+
+Refer to [Web.Auto Documentation - Creation of Detection Area](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-detection-area) for the method of creation in Vector Map Builder.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-06-05_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Detection Area - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
new file mode 100644
index 00000000000..2db632ae799
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
@@ -0,0 +1,119 @@
+## Category:Crosswalk
+
+There are two types of requirements for crosswalks, and they can both be applicable to a single crosswalk.
+
+- [vm-05-01](./category_crosswalk.md#vm-05-01-crosswalks-across-the-road) : Crosswalks across the road
+- [vm-05-02](./category_crosswalk.md#vm-05-02-crosswalks-with-pedestrian-signals) : Crosswalks with pedestrian signals
+
+In the case of crosswalks at intersections, they must also meet the requirements of the intersection.
+
+---
+
+### vm-05-01 Crosswalks across the road
+
+#### Detail of requirements <!-- omit in toc -->
+
+Necessary requirements for creation:
+
+1. Create a Lanelet for the crosswalk (_subtype:crosswalk_).
+2. If there is a stop line before the crosswalk, create a Linestring (_type:stop_line_). Create stop lines for the opposing traffic lane in the same way.
+3. Create a Polygon (_type:crosswalk_polygon_) to cover the crosswalk.
+4. The Lanelet of the road refers to the regulatory element (_subtype:crosswalk_), and the regulatory element refers to the created Lanelet, Linestring, and Polygon.
+
+##### Supplemental information
+
+- Link the regulatory element to the lanelet(s) of the road that intersects with the crosswalk.
+- The stop lines linked to the regulatory element do not necessarily have to exist on the road Lanelets linked with the regulatory element.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+When pedestrians or cyclists are on the crosswalk, Autoware will come to a stop before the stop line and wait for them to pass. Once they have cleared the area, Autoware will begin to move forward.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-01_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/)
+
+---
+
+### vm-05-02 Crosswalks with pedestrian signals
+
+#### Detail of requirements <!-- omit in toc -->
+
+Necessary requirements for creation:
+
+- Create a Lanelet (_subtype:crosswalk_, _participant:pedestrian_).
+- Create a Traffic Light Linestring. If multiple traffic lights exist, create multiple Linestrings.
+  - Linestring
+    - _type:traffic_light_
+    - _subtype:red_green_
+    - _height_:value
+- Ensure the crosswalk's Lanelet references a Regulatory Element (_subtype:traffic_light_). Also, ensure the Regulatory Element references Linestring (_type:traffic_light_).
+
+Refer to [vm-04-02](./category_traffic_light.md#vm-04-02-traffic-light-position-and-size) for more about traffic light object.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-02_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/)
+
+---
+
+### vm-05-03 Deceleration for safety at crosswalks
+
+#### Detail of requirements <!-- omit in toc -->
+
+To ensure a constant deceleration to a safe speed when traversing a crosswalk, add the following tags to the crosswalk's Lanelet (_subtype:crosswalk_):
+
+- _safety_slow_down_speed_ [m/s]: The maximum velocity while crossing.
+- _safety_slow_down_distance_ [m]: The starting point of the area where the maximum speed applies, measured from the vehicle's front bumper to the crosswalk.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-03_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/)
+
+---
+
+### vm-05-04 Fences
+
+#### Detail of requirements <!-- omit in toc -->
+
+Autoware detects pedestrians and bicycles crossing the crosswalk, as well as those that might cross. However, areas near the crosswalk, such as fenced kindergartens, playgrounds, or parks, where many people are moving, can affect crosswalk detection due to predicted paths of people and bicycles from these areas.
+
+Surround areas not connected to the crosswalk with Linestring (_type:fence_), which does not need to be linked to anything.
+
+However, if there is a guardrail, wall, or fence between the road and sidewalk, with another fence behind it, the second fence may be omitted. Nevertheless, areas around crosswalks are not subject to this omission and must be created without exclusion.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-04_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/)
\ No newline at end of file
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
new file mode 100644
index 00000000000..f82e96a271a
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
@@ -0,0 +1,423 @@
+## Category:Intersection
+
+---
+
+### vm-03-01 Intersection criteria
+
+#### Detail of requirements <!-- omit in toc -->
+
+Essential criteria for the construction of an intersection:
+
+- Encircle the drivable area at the intersection with a Polygon (_type:intersection_area_).
+- Add _turn_direction_ to all Lanelets in the intersection.
+- Ensure that all lanelets in the intersection are tagged:
+  - _key:intersection_area_
+  - _value: Polygon's ID_
+- Attach _right_of_way_ to the necessary Lanelets.
+- Also, it is necessary to appropriately create traffic lights, crosswalks, and stop lines.
+
+For detailed information, refer to the respective requirements on this page.
+
+##### Autoware modules <!-- omit in toc -->
+
+- The requirements for _turn_direction_ and _right_of_way_ are related to the intersection module, which plans velocity to avoid collisions with other vehicles, taking traffic light instructions into account.
+- The requirements for _intersection_area_ are related to the avoidance module, which plans routes that evade by veering out of lanes in the intersections.
+
+#### Preferred vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+
+---
+
+### vm-03-02 Lanelet's turn direction and virtual linestring
+
+#### Detail of requirements <!-- omit in toc -->
+
+Add the following tag to the Lanelets in the intersection:
+
+- turn_direction : straight
+- turn_direction : left
+- turn_direction : right
+
+Also, if the left or right Linestrings of Lanelets at the intersection lack road paintings, designate these as _type:virtual_.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+Autoware will start flashing the turn signals (blinkers) 30 meters as default before turn_direction-tagged Lanelet. If you change the blinking timing, add the following tags:
+
+- key: _turn_signal_distance_
+- value: numerical value (m)
+
+![svg](./assets/vm-03-02_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-02_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
+- [virtual_traffic_light in behavior_velocity_planner - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/)
+
+---
+
+### vm-03-03 Lanelet width in the intersection
+
+#### Detail of requirements： <!-- omit in toc -->
+
+Lanelets in the intersection should have a consistent width. Additionally, draw Linestrings with smooth curves.
+
+The shape of this curve must be determined by the Vector Map creator.
+
+![svg](./assets/vm-03-03_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-03_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-03_3.svg)
+
+---
+
+### vm-03-04 Lanelet creation in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create all Lanelets in the intersection, including lanelets not driven by the vehicle. Additionally, link stop lines and traffic lights to the Lanelets appropriately.
+
+Refer also to the creation scope [vm-07-01](./category_others.md#vm-07-01-vector-map-creation-range)
+
+##### Behavior of Autoware <!-- omit in toc -->
+
+Autoware uses lanelets to predict the movements of other vehicles and plan the vehicle's velocity accordingly. Therefore, it is necessary to create all lanelets in the intersection.
+
+![svg](./assets/vm-03-04_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-04_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-04_3.svg)
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-05 Lanelet division in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create the Lanelets in the intersection as a single object without dividing them.
+
+![svg](./assets/vm-03-05_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-05_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-03_3.svg)
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-06 Guide lines in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+If there are guide lines in the intersection, draw the Lanelet following them.
+
+In cases where the Lanelets branches off, begin the branching at the end of the guide line. However, it is not necessary to share points or linestrings between Lanelets.
+
+![svg](./assets/vm-03-06_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-06_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-07 Multiple lanelets in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+When connecting multiple lanes with Lanelets at an intersection, those Lanelets should be made adjacent to each other without crossing.
+
+![svg](./assets/vm-03-07_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-07_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-07_3.svg)
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-08 Intersection area range
+
+#### Detail of requirements <!-- omit in toc -->
+
+Encircle the intersection's drivable area with a Polygon (_type:intersection_area_). The boundary of this intersection's Polygon should be defined by the objects below.
+
+- Linestrings (_subtype:road_border_)
+- Straight lines at the connection points of lanelets in the intersection."
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-08_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+
+---
+
+### vm-03-09 Range of Lanelet in the intersection
+
+#### Detail of requirements <!-- omit in toc -->
+
+Determine the start and end positions of lanelets in the intersection (henceforth the boundaries of lanelet connections) based on the stop line's position.
+
+- For cases with a painted stop line:
+  - The stop line's linestring (_type:stop_line_) position must align with the lanelet's start.
+  - Extend the lanelet's end to where the opposing lane's stop line would be.
+- Without a painted stop line:
+  - Use a drawn linestring (_type:stop_line_) to establish positions as if there were a painted stop line.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-09_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-10 Right of way (with signal)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Set the regulatory element 'right_of_way' for Lanelets that meet all of the following criteria:
+
+- Lanelets in the intersection with a _turn_direction_ of _right_ or _left_.
+- Lanelets that intersect with the vehicle's lanelet.
+- There are traffic lights at the intersection.
+
+Set to _yield_ those lanelets in the intersection that intersect the vehicle's lanelet, and set to _yield_ those lanelets that do not share the same signal change timing with the vehicle. Also, if the vehicle is turning left, set the opposing vehicle's right-turn lane to _yield_. There is no need to set _yield_ for lanelets where the vehicle goes straight (_turn_direction:straight_).
+
+![svg](./assets/vm-03-10_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+##### The vehicle turns left <!-- omit in toc -->
+
+![svg](./assets/vm-03-10_2.svg)
+
+##### The vehicle turns right <!-- omit in toc -->
+
+![svg](./assets/vm-03-10_3.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-11 Right of way (without signal)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Set the regulatory element 'right_of_way' for Lanelets that meet all of the following criteria:
+
+- Lanelets in the intersection with a _turn_direction_ of _right_ or _left_.
+- Lanelets that intersect with the vehicle's lanelet.
+- There are **no** traffic lights at the intersection.
+
+![svg](./assets/vm-03-11_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+##### ① The vehicle on the priority lane <!-- omit in toc -->
+
+![svg](./assets/vm-03-11_2.svg)
+
+##### ② The vehicle on the non-priority lane <!-- omit in toc -->
+
+A regulatory element is not necessary. However, when the vehicle goes straight, it has relative priority over other vehicles turning right from the opposing non-priority road. Therefore, settings for _right_of_way_ and _yield_ are required in this case.
+
+![svg](./assets/vm-03-11_3.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-12 Right of way supplements
+
+#### Detail of requirements <!-- omit in toc -->
+
+##### Why it's necessary to configure 'right_of_way' <!-- omit in toc -->
+
+Without the 'right_of_way' setting, Autoware interprets other lanes intersecting its path as having priority. Therefore, as long as there are other vehicles in the crossing lane, Autoware cannot enter the intersection regardless of signal indications.
+
+An example of a problem: Even when our signal allows proceeding, our vehicle waits beforehand if other vehicles are waiting at a red light where the opposing lane intersects with a right-turn lane.
+
+#### Preferred vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-13 Merging from private area, sidewalk
+
+#### Detail of requirements <!-- omit in toc -->
+
+Set _location=private_ for Lanelets within private property.
+
+When a road, which enters or exits private property, intersects with a sidewalk, create a Lanelet for that sidewalk (_subtype:walkway_).
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+- The vehicle stops temporarily before entering the sidewalk.
+- The vehicle comes to a stop before merging onto the public road.
+
+![svg](./assets/vm-03-13_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-13_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-14 Road marking
+
+#### Detail of requirements <!-- omit in toc -->
+
+If there is a stop line ahead of the guide lines in the intersection, ensure the following:
+
+- Create a Lanelet for the guide lines.
+- The Lanelet for the guide lines references a Regulatory Element (_subtype:road_marking_).
+- The Regulatory Element refers to the _stop_line_'s Linestring."
+
+Refer to [Web.Auto Documentation - Creation of Regulatory Element](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-regulatory-element) for the method of creation in Vector Map Builder.
+
+![svg](./assets/vm-03-14_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-14_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+
+---
+
+### vm-03-15 Exclusive bicycle lane
+
+#### Detail of requirements <!-- omit in toc -->
+
+If an exclusive bicycle lane exists, create a Lanelet (_subtype:road_). The section adjoining the road should share a Linestring. For bicycle lanes at intersections, assign a yield*lane designation beneath the \_right_of_way* for lanes that intersect with the vehicle's left-turn lane. (Refer to [vm-03-10](./category_intersection.md#vm-03-10-right-of-way-with-signal) and [vm-03-11](./category_intersection.md#vm-03-11-right-of-way-without-signal) for right_of_way).
+
+In addition, set _lane_change = no_ as OptionalTags.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+The blind spot (entanglement check) feature verifies the lanelet(subtype:road) and decides if the vehicle can proceed.
+
+![png](./assets/vm-03-15_1.png)
+
+![svg](./assets/vm-03-15_2.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-03-15_3.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
\ No newline at end of file
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
new file mode 100644
index 00000000000..a160449d74a
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
@@ -0,0 +1,453 @@
+## Category:Lane
+
+---
+
+### vm-01-01 Lanelet basics
+
+#### Detail of requirements <!-- omit in toc -->
+
+The road's Lanelets must comply with the following requirements.
+
+- _subtype:road_
+- location:urban, for public roads
+- Align the Lanelet's direction with the direction of vehicle move. (You can visualize lanelet direction as arrows with [Vector Map Builder](https://docs.web.auto/en/user-manuals/vector-map-builder/screen-layout#project-tab))
+- Set lane change is allowed or not, according to [vm-01-02](#vm-01-02-allowance-for-lane-changes).
+- Set the Linestring IDs for Lanelet's left_bound and right_bound respectively. See [vm-01-03](#vm-01-03-linestring-sharing).
+- tag : _one_way=yes_. Autoware currently does not support no.
+- Connect the Lanelet to another Lanelet, except if it's at the start or end.
+- Position the points (x, y, z) within the Lanelet to align with the PCD Map, ensuring accuracy not only laterally but also in elevation. The height of a Point should be based on the ellipsoidal height (WGS84). Refer to [vm-07-04](./category_others.md#vm-07-04-ellipsoidal-height).
+
+#### Preferred vector map <!-- omit in toc -->
+
+![lanelet](./assets/vm-01-01.svg)
+
+---
+
+### vm-01-02 Allowance for lane changes
+
+#### Detail of requirements <!-- omit in toc -->
+
+Add a tag to the Lanelet's Linestring indicating lane change permission or prohibition.
+
+- Permit _lane_change=yes_
+- Prohibit _lane_change=no_
+
+Set the Linestring _subtype_ according to the type of line.
+
+- _solid_
+- _dashed_
+
+##### Referenced from Japan's Road Traffic Law <!-- omit in toc -->
+
+- White dashed lines : indicate that lane changes and overtaking are permitted.
+- White solid lines : indicate that changing lanes and overtaking are allowed.
+- Yellow solid lines : mean no lane changes are allowed.
+
+![lines](./assets/vm-01-02.svg)
+
+#### Related Autoware module
+
+- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/)
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/)
+
+---
+
+### vm-01-03 Linestring sharing
+
+#### Detail of requirements <!-- omit in toc -->
+
+Share the Linestring when creating Lanelets that are physically adjacent to others.
+
+##### Behavior of Autoware <!-- omit in toc -->
+
+If the Lanelet adjacent to the one the vehicle is driving on shares a Linestring, the following behaviors become possible:
+
+- The vehicle moves out of their lanes to avoid obstacles.
+- The vehicle turns a curve while slightly extending out of the lane.
+- Lane changes
+
+![lines](./assets/vm-01-03_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![lines](./assets/vm-01-03_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![lines](./assets/vm-01-03_3.svg)
+
+#### Related Autoware module
+
+- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/)
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/)
+
+---
+
+### vm-01-04 Sharing of the centerline of lanes for opposing traffic
+
+#### Detail of requirements <!-- omit in toc -->
+
+When the vehicle's lanelet and the opposing lanelet physically touch, the road center line's Linestring ID must be shared between these two Lanelets. For that purpose, the lengths of those two Lanelets must match.
+
+##### Behavior of Autoware：<!-- omit in toc -->
+
+Obstacle avoidance across the opposing lane is possible.
+
+![svg](./assets/vm-01-04_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-04_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-04_3.svg)
+
+---
+
+### vm-01-05 Lane geometry
+
+#### Detail of requirements <!-- omit in toc -->
+
+The geometry of the road lanelet needs to comply with the following:
+
+- The left and right Linestrings must follow the road's boundary lines.
+- The lines of a Lanelet, which join with lanelets ahead and behind it, must form straight lines.
+- Ensure the outline is smooth and not jagged or bumpy, except for L-shaped cranks.
+
+![svg](./assets/vm-01-05_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-05_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-05_3.svg)
+
+---
+
+### vm-01-06 Line position (1)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Ensure the road's center line Linestring is located in the exact middle of the road markings.
+
+![svg](./assets/vm-01-06_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-06_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-06_3.svg)
+
+---
+
+### vm-01-07 Line position (2)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Place the Linestring at the center of the markings when lines exist outside the road.
+
+![svg](./assets/vm-01-07_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-07_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-08 Line position (3)
+
+#### Detail of requirements <!-- omit in toc -->
+
+If there are no lines on the outer side within the road, position the Linestring 0.5 m from the road's edge.
+
+!!! Caution
+
+    The width depends on the laws of your country.
+
+![svg](./assets/vm-01-08_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-08_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-09 Speed limits
+
+#### Detail of requirements <!-- omit in toc -->
+
+In the following cases, add a speed limit (_tag:speed_limit_) to the Lanelet (_subtype:road_) the vehicle is driving on, in km/h.
+
+- A speed limit road sign exists.
+- You can add a speed limit, for example, on narrow roads.
+
+Note that the following is achieved through Autoware's settings and behavior.
+
+- Vehicle's maximum velocity
+- Speed adjustment at places requiring deceleration, like curves and downhill areas.
+
+![svg](./assets/vm-01-09_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-09_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-10 Centerline
+
+#### Detail of requirements <!-- omit in toc -->
+
+Autoware is designed to move through the midpoint calculated from a Lanelet's left and right Linestrings.
+
+Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.
+
+!!!Caution
+    'Centerline' is a distinct concept from the central lane division line (centerline).
+
+![svg](./assets/vm-01-10_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-10_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-10_3.svg)
+
+---
+
+### vm-01-11 Centerline connection (1)
+
+#### Detail of requirements <!-- omit in toc -->
+
+When center lines have been added to several Lanelets, they should be connected.
+
+![svg](./assets/vm-01-11_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-11_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-11_3.svg)
+
+---
+
+### vm-01-12 Centerline connection (2)
+
+#### Detail of requirements <!-- omit in toc -->
+
+If a Lanelet with an added centerline is connected to Lanelets without one, ensure the start and end points of the added centerline are positioned at the Lanelet's center. Ensure the centerline has a smooth shape for drivability.
+
+![svg](./assets/vm-01-12_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-12_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-12_3.svg)
+
+---
+
+### vm-01-13 Roads with no centerline (1)
+
+#### Detail of requirements <!-- omit in toc -->
+
+When a road lacks a central line but is wide enough for one's vehicle and oncoming vehicles to pass each other, Lanelets should be positioned next to each other at the center of the road.
+
+![svg](./assets/vm-01-13_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-13_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-14 Roads with no centerline (2)
+
+#### Detail of requirements <!-- omit in toc -->
+
+Apply if all the next conditions are satisfied:
+
+- The road is a single lane without a central line and is too narrow for one's vehicle and an oncoming vehicle to pass each other.
+- It is an environment where no vehicles other than the autonomous vehicle enter this road.
+- The plan involves autonomous vehicles operating forth and back on this road.
+
+Requirement for Vector Map creation:
+
+- Stack two Lanelets together.
+
+##### Supplementary information:
+
+- The application of this case depends on local operational policies and vehicle specifications, and should be determined in discussion with the map requestor.
+- The current Autoware does not possess the capability to pass oncoming vehicles in shared lanes.
+
+![svg](./assets/vm-01-14_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-14_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-14_3.svg)
+
+---
+
+### vm-01-15 Road Shoulder
+
+#### Detail of requirements <!-- omit in toc -->
+
+If there is a shoulder next to the road, place the lanelet for the road shoulder (_subtype:road_shoulder_). However, it is not necessary to create this within intersections.
+
+The road shoulder's Lanelet and sidewalk's Lanelet share the Linestring (_subtype:road_border_).
+
+There must not be a road shoulder Lanelet next to another road shoulder Lanelet.
+
+A road Lanelet must be next to the shoulder Lanelet.
+
+##### Behavior of Autoware <!-- omit in toc -->
+
+- Autoware can start from the shoulder and also reach the shoulder.
+- The margin for moving to the edge upon arrival is determined by the Autoware parameter _margin_from_boundary_. It does not need to be considered when creating the Vector Map.
+- Autoware does not park on the road shoulder lanelet if it overlaps with any of the following:
+  - A Polygon marked as _no_parking_area_
+  - A Polygon marked as _no_stopping_area_
+  - Areas near intersection and in the intersection
+  - Crosswalk
+
+_tag:lane_change=yes_ is not required on the Linestring marking the boundary of the shoulder.
+
+![svg](./assets/vm-01-15_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-15_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+Do not create a road shoulder Lanelet for roads without a shoulder.
+
+![svg](./assets/vm-01-15_3.svg)
+
+#### Related Autoware module
+
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+
+---
+
+### vm-01-16 Road shoulder Linestring sharing
+
+#### Detail of requirements <!-- omit in toc -->
+
+The Lanelets for the road shoulder and the adjacent road should have a common Linestring.
+
+![svg](./assets/vm-01-15_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-16_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/)
+- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+
+---
+
+### vm-01-17 Side strip
+
+#### Detail of requirements <!-- omit in toc -->
+
+Place a Lanelet (_subtype:pedestrian_lane_) on the side strip. However, it is not necessary to create this within intersections.
+
+The side strip's Lanelet must have the Linestring (_subtype:road_border_) outside.
+
+![svg](./assets/vm-01-17_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-17_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-18 Side strip Linestring sharing
+
+#### Detail of requirements <!-- omit in toc -->
+
+The Lanelet for the side strip and the adjacent road Lanelet should have a common Linestring.
+
+![svg](./assets/vm-01-17_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-18_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+---
+
+### vm-01-19 sidewalk
+
+#### Detail of requirements <!-- omit in toc -->
+
+Place a sidewalk Lanelet (_subtype:walkway_) where necessary. However, install only when there is a crosswalk intersecting the vehicle's lane. Do not install if there is no intersection.
+
+The length of the lanelet (_subtype:walkway_) should be the area intersecting with your lane and additional 3 meters before and after.
+
+![svg](./assets/vm-01-19_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-01-19_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/)
\ No newline at end of file
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_others.md b/docs/design/autoware-architecture/map/map-requirements/category_others.md
new file mode 100644
index 00000000000..d1dac3a41d7
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_others.md
@@ -0,0 +1,98 @@
+## Category:Others
+
+---
+
+### vm-07-01 Vector Map creation range
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create all Lanelets within the sensor range of the vehicle, even those on roads not driven by the vehicle, including Lanelets that intersect with the vehicle's Lanelet.
+
+However, if the following conditions are met, the range you must create lanelets is 10 meters at least.
+
+- The vehicle drives on the priority lane through the intersection without traffic lights.
+- The vehicle drives straight or turn left through the intersection with traffic lights
+
+Refer to [vm-03-04](./category_intersection.md#vm-03-04-lanelet-creation-in-the-intersection) for more about intersection requirements.
+
+##### Behavior of Autoware： <!-- omit in toc -->
+
+Autoware detects approaching vehicles and plans a route to avoid collisions.
+
+!!! Caution
+
+    Check the range of sensors on your vehicle.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-07-01_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-07-01_2.svg)
+
+---
+
+### vm-07-02 Range of detecting pedestrians who enter the road
+
+#### Detail of requirements <!-- omit in toc -->
+
+Autoware's feature for detecting sudden entries from the roadside tracks pedestrians and cyclists beyond the road boundaries, decelerating to prevent collisions when emergence into the road is likely.
+
+Setting up a linestring of the following type instructs Autoware to disregard those positioned outside the line as not posing pop-out risks.
+
+- guard_rail
+- wall
+- fence
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-05-04_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/)
+
+---
+
+### vm-07-03 Guardrails, guard pipes, fences
+
+#### Detail of requirements <!-- omit in toc -->
+
+When creating a Linestring for guardrails or guard pipes (_type: guard_rail_), position it at the point where the most protruding part on the roadway side is projected vertically onto the ground.
+
+Follow the same position guidelines for Linestrings of fences (_type:fence_).
+
+#### Preferred vector map <!-- omit in toc -->
+
+![png](./assets/vm-07-03_1.png)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![png](./assets/vm-07-03_2.png)
+
+#### Related Autoware module
+
+- [Drivable Area design -  Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/)
+
+---
+
+### vm-07-04 Ellipsoidal height
+
+#### Detail of requirements <!-- omit in toc -->
+
+The height of a Point should be based on the ellipsoidal height (WGS84), in meters.
+
+![svg](./assets/vm-07-04_height_en.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+The height of a Point is the distance from the ellipsoidal surface to the ground.
+
+#### Incorrect vector map <!-- omit in toc -->
+
+The height of a Point is Orthometric height, the distance from the Geoid to the ground.
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
new file mode 100644
index 00000000000..61ee74f6e65
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
@@ -0,0 +1,45 @@
+## Category:Stop Line
+
+---
+
+### vm-02-01 Stop line alignment
+
+#### Detail of requirements <!-- omit in toc -->
+
+Place the Linestring (_type:stop_line_) for the stop line on the edge on the side before the white line.
+
+Refer to [Web.Auto Documentation - Creation and edit of a stop point (StopPoint)](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-and-edit-of-a-stop-point-stoppoint) for the method of creation in Vector Map Builder.
+
+![svg](./assets/vm-02-01_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-02-01_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+![svg](./assets/vm-02-01_3.svg)
+
+---
+
+### vm-02-02 Stop sign
+
+#### Detail of requirements <!-- omit in toc -->
+
+Where there is no stop line on the road but a stop sign exists, place a Linestring as the stop line next to the sign.
+
+Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:traffic_sign_), and have this Regulatory Element refer to a Linestring (_type:stop_line_) and a Linestring (_type:traffic_sign, subtype:stop_sign)_.
+
+![svg](./assets/vm-02-02_1.svg)
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-02-02_2.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/)
\ No newline at end of file
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md b/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
new file mode 100644
index 00000000000..5ede232e917
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
@@ -0,0 +1,92 @@
+## Category:Traffic Light
+
+---
+
+### vm-04-01 Traffic light basics
+
+#### Detail of requirements <!-- omit in toc -->
+
+When creating traffic lights in a vector map, meet the following requirements:
+
+- Road Lanelet (_subtype:road_). Quantity: one.
+- Traffic Light. Multiple instances possible.
+  - Traffic light Linestring (_type:traffic_light_).
+  - Traffic light bulbs Linestring (_type:light_bulbs_).
+  - Stop line Linestring (_type:stop_line_).
+- Regulatory element for traffic lights (_subtype:traffic_light_). Referenced by the road Lanelet and references both the traffic light (_traffic_light_, _light_bulbs_) and stop line (_stop_line_). Quantity: one.
+
+Refer to [Web.Auto Documentation - Creation of a traffic light and a stop line](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-a-traffic-light-and-a-stop-line) for the method of creation in Vector Map Builder.
+
+Refer to vm-04-02 and vm-04-03 for the specifications of traffic light and traffic light bulb objects.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-04-01_1.svg)
+
+If there is a crosswalk at the intersection, arrange for the road's Lanelet and the crosswalk's Lanelet to intersect and overlap.
+
+![svg](./assets/vm-04-01_2.svg)
+
+#### Related Autoware module
+
+- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/)
+
+---
+
+### vm-04-02 Traffic light position and size
+
+#### Detail of requirements <!-- omit in toc -->
+
+Create traffic lights with Linestring.
+
+- _type:traffic_light_
+- _subtype:red_yellow_green_ (optional)
+
+Create the Linestring's length (from start to end points) precisely aligned with the traffic light's bottom edge. Ensure the traffic light's positional height is correctly represented in the Linestring's 3D coordinates.
+
+Use _tag:height_ for the traffic light's height, e.g., for 50cm, write _tag:height=0.5_. Note that this height indicates the size of the traffic light, not its position.
+
+##### Supplemental information <!-- omit in toc -->
+
+Autoware currently ignores subtype _red_yellow_green_.
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-04-02_1.svg)
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/)
+
+---
+
+### vm-04-03 Traffic light lamps
+
+#### Detail of requirements <!-- omit in toc -->
+
+To enable the system to detect the color of traffic lights, the color scheme and arrangement must be accurately created as objects. Indicate the position of the lights with Points. For colored lights, use the _color_ tag to represent the color. For arrow lights, use the _arrow_ tag to indicate the direction.
+
+- _tag: color = red, yellow, green_
+- _tag: arrow = up, right, left, up_light, up_left_
+
+Use the Points of the lights when creating a Linestring.
+
+- _type: light_bulbs_
+
+#### Preferred vector map <!-- omit in toc -->
+
+![svg](./assets/vm-04-03_1.svg)
+
+The order of the lights' Points can be 1→2→3→4 or 4→3→2→1, either is acceptable.
+
+#### Incorrect vector map <!-- omit in toc -->
+
+None in particular.
+
+#### Related Autoware module
+
+- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/overview.md
new file mode 100644
index 00000000000..a0a23b5a40d
--- /dev/null
+++ b/docs/design/autoware-architecture/map/map-requirements/overview.md
@@ -0,0 +1,82 @@
+# Vector Map creation requirement specifications
+
+## Overview
+
+Autoware relies on high-definition point cloud maps and vector maps of the driving environment to perform various tasks such as localization, route planning, traffic light detection, and predicting the trajectories of pedestrians and other vehicles.
+
+A vector map contains highly accurate information about a road network, lane geometry, and traffic lights. It is required for route planning, traffic light detection, and predicting the trajectories of other vehicles and pedestrians.
+
+Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md), which is based on the [lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) format and extended for Autoware.
+
+The primitives (basic components) used in Vector Map are explained in [Web.Auto Docs - What is Lanelet2](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction#what-is-lanelet2). The following **Vector Map creation requirement specifications** are written on the premise of these knowledge.
+
+This specification is a set of requirements for the creation of Vector Map(s) to ensure that Autoware drives safely and autonomously as intended by the user. It does not cover how to operate specific map creation tools.
+
+- [Vector Map Builder - how to use](https://docs.web.auto/user-manuals/vector-map-builder/how-to-use/edit-maps)
+
+## Handling of the Requirement Specification
+
+Which requirements apply entirely depends on the configuration of the Autoware system on a vehicle. Before creating a Vector Map, it is necessary to clearly determine in advance how you want the vehicle with the implemented system to behave in various environments.
+
+Next, you must comply with the laws of the country where the autonomous driving vehicle will be operating. It is your responsibility to choose which of the following requirements to apply according to the laws.
+
+!!!Caution
+    - The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries.
+    - The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
+
+## List of Requirement Specifications
+
+| Category                                                        | ID       | Requirements                                                      |
+| --------------------------------------------------------------- | -------- | ----------------------------------------------------------------- |
+| [Category Lane](./category_lane.md)                   | vm-01-01 | Lanelet basics                                                    |
+|                                                                 | vm-01-02 | Allowance for lane changes                                        |
+|                                                                 | vm-01-03 | Linestring sharing                                                |
+|                                                                 | vm-01-04 | Sharing of the centerline of lanes for opposing traffic           |
+|                                                                 | vm-01-05 | Lane geometry                                                     |
+|                                                                 | vm-01-06 | Line position (1)                                                 |
+|                                                                 | vm-01-07 | Line position (2)                                                 |
+|                                                                 | vm-01-08 | Line position (3)                                                 |
+|                                                                 | vm-01-09 | Speed limits                                                      |
+|                                                                 | vm-01-10 | Centerline                                                        |
+|                                                                 | vm-01-11 | Centerline connection (1)                                         |
+|                                                                 | vm-01-12 | Centerline connection (2)                                         |
+|                                                                 | vm-01-13 | Roads with no centerline (1)                                      |
+|                                                                 | vm-01-14 | Roads with no centerline (2)                                      |
+|                                                                 | vm-01-15 | Road shoulder                                                     |
+|                                                                 | vm-01-16 | Road shoulder Linestring sharing                                  |
+|                                                                 | vm-01-17 | Side strip                                                        |
+|                                                                 | vm-01-18 | Side strip Linestring sharing                                     |
+|                                                                 | vm-01-19 | Walkway                                                           |
+| [Category Stop Line](./category_stop_line.md)         | vm-02-01 | Stop line alignment                                               |
+|                                                                 | vm-02-02 | Stop sign                                                         |
+| [Category Intersection](./category_intersection.md)   | vm-03-01 | Intersection criteria                                             |
+|                                                                 | vm-03-02 | Lanelet's turn direction and virtual                              |
+|                                                                 | vm-03-03 | Lanelet width in the intersection                                 |
+|                                                                 | vm-03-04 | Lanelet creation in the intersection                              |
+|                                                                 | vm-03-05 | Lanelet division in the intersection                              |
+|                                                                 | vm-03-06 | Guide lines in the intersection                                   |
+|                                                                 | vm-03-07 | Multiple lanelets in the intersection                             |
+|                                                                 | vm-03-08 | Intersection Area range                                           |
+|                                                                 | vm-03-09 | Range of Lanelet in the intersection                              |
+|                                                                 | vm-03-10 | Right of way (with signal)                                        |
+|                                                                 | vm-03-11 | Right of way (without signal)                                     |
+|                                                                 | vm-03-12 | Right of way supplements                                          |
+|                                                                 | vm-03-13 | Merging from private area, sidewalk                               |
+|                                                                 | vm-03-14 | Road marking                                                      |
+|                                                                 | vm-03-15 | Exclusive bicycle lane                                            |
+| [Category Traffic Light](./category_traffic_light.md) | vm-04-01 | Traffic light basics                                              |
+|                                                                 | vm-04-02 | Traffic light position and size                                   |
+|                                                                 | vm-04-03 | Traffic light lamps                                               |
+| [Category Crosswalk](./category_crosswalk.md)         | vm-05-01 | Crosswalks across the road                                        |
+|                                                                 | vm-05-02 | Crosswalks with pedestrian signals                                |
+|                                                                 | vm-05-03 | Deceleration for safety at crosswalks                             |
+|                                                                 | vm-05-04 | Fences                                                            |
+| [Category Area](./category_area.md)                   | vm-06-01 | Buffer Zone                                                       |
+|                                                                 | vm-06-02 | No parking signs                                                  |
+|                                                                 | vm-06-03 | No stopping signs                                                 |
+|                                                                 | vm-06-04 | No stopping sections                                              |
+|                                                                 | vm-06-05 | Detection area                                                    |
+| [Category Others](./category_others.md)               | vm-07-01 | Vector Map creation range                                         |
+|                                                                 | vm-07-02 | Range of detecting pedestrians who enter the road                 |
+|                                                                 | vm-07-03 | Guardrails, guard pipes, fences                                   |
+|                                                                 | vm-07-04 | Ellipsoidal height                                                |

From 19cb351266e33426851164a5f56fe10affe32dc0 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 26 Jun 2024 08:19:59 +0000
Subject: [PATCH 09/20] style(pre-commit): autofix

Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .../map/map-requirements/category_area.md     |   4 +-
 .../map-requirements/category_crosswalk.md    |   2 +-
 .../map-requirements/category_intersection.md |   2 +-
 .../map/map-requirements/category_lane.md     |   6 +-
 .../map/map-requirements/category_others.md   |   2 +-
 .../map-requirements/category_stop_line.md    |   2 +-
 .../map/map-requirements/overview.md          | 112 +++++++++---------
 7 files changed, 63 insertions(+), 67 deletions(-)

diff --git a/docs/design/autoware-architecture/map/map-requirements/category_area.md b/docs/design/autoware-architecture/map/map-requirements/category_area.md
index bcb435d4770..c76eb961bb5 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_area.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_area.md
@@ -15,9 +15,7 @@ Create a Polygon (_type:hatched_road_markings_) when a Buffer Zone (also known a
 
 In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area and proceeds through it.
 
-!!! Caution
-    - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas.
-    - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
+!!! Caution - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
 
 ![svg](./assets/vm-06-01_1.svg)
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
index 2db632ae799..196e4c881ff 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
@@ -116,4 +116,4 @@ None in particular.
 
 #### Related Autoware module
 
-- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/)
\ No newline at end of file
+- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
index f82e96a271a..960b19e9a5a 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
@@ -420,4 +420,4 @@ None in particular.
 
 #### Related Autoware module
 
-- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
\ No newline at end of file
+- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
index a160449d74a..393d8180a45 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_lane.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
@@ -224,7 +224,7 @@ Autoware is designed to move through the midpoint calculated from a Lanelet's le
 Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.
 
 !!!Caution
-    'Centerline' is a distinct concept from the central lane division line (centerline).
+'Centerline' is a distinct concept from the central lane division line (centerline).
 
 ![svg](./assets/vm-01-10_1.svg)
 
@@ -306,7 +306,7 @@ Requirement for Vector Map creation:
 
 - Stack two Lanelets together.
 
-##### Supplementary information:
+##### Supplementary information
 
 - The application of this case depends on local operational policies and vehicle specifications, and should be determined in discussion with the map requestor.
 - The current Autoware does not possess the capability to pass oncoming vehicles in shared lanes.
@@ -450,4 +450,4 @@ None in particular.
 #### Related Autoware module
 
 - [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
-- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/)
\ No newline at end of file
+- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_others.md b/docs/design/autoware-architecture/map/map-requirements/category_others.md
index d1dac3a41d7..2abe4fdb287 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_others.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_others.md
@@ -77,7 +77,7 @@ Follow the same position guidelines for Linestrings of fences (_type:fence_).
 
 #### Related Autoware module
 
-- [Drivable Area design -  Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/)
+- [Drivable Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/)
 
 ---
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
index 61ee74f6e65..d5014c2e970 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
@@ -42,4 +42,4 @@ None in particular.
 
 #### Related Autoware module
 
-- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/)
\ No newline at end of file
+- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/)
diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/overview.md
index a0a23b5a40d..cbd44f1d522 100644
--- a/docs/design/autoware-architecture/map/map-requirements/overview.md
+++ b/docs/design/autoware-architecture/map/map-requirements/overview.md
@@ -20,63 +20,61 @@ Which requirements apply entirely depends on the configuration of the Autoware s
 
 Next, you must comply with the laws of the country where the autonomous driving vehicle will be operating. It is your responsibility to choose which of the following requirements to apply according to the laws.
 
-!!!Caution
-    - The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries.
-    - The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
+!!!Caution - The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries. - The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
 
 ## List of Requirement Specifications
 
-| Category                                                        | ID       | Requirements                                                      |
-| --------------------------------------------------------------- | -------- | ----------------------------------------------------------------- |
-| [Category Lane](./category_lane.md)                   | vm-01-01 | Lanelet basics                                                    |
-|                                                                 | vm-01-02 | Allowance for lane changes                                        |
-|                                                                 | vm-01-03 | Linestring sharing                                                |
-|                                                                 | vm-01-04 | Sharing of the centerline of lanes for opposing traffic           |
-|                                                                 | vm-01-05 | Lane geometry                                                     |
-|                                                                 | vm-01-06 | Line position (1)                                                 |
-|                                                                 | vm-01-07 | Line position (2)                                                 |
-|                                                                 | vm-01-08 | Line position (3)                                                 |
-|                                                                 | vm-01-09 | Speed limits                                                      |
-|                                                                 | vm-01-10 | Centerline                                                        |
-|                                                                 | vm-01-11 | Centerline connection (1)                                         |
-|                                                                 | vm-01-12 | Centerline connection (2)                                         |
-|                                                                 | vm-01-13 | Roads with no centerline (1)                                      |
-|                                                                 | vm-01-14 | Roads with no centerline (2)                                      |
-|                                                                 | vm-01-15 | Road shoulder                                                     |
-|                                                                 | vm-01-16 | Road shoulder Linestring sharing                                  |
-|                                                                 | vm-01-17 | Side strip                                                        |
-|                                                                 | vm-01-18 | Side strip Linestring sharing                                     |
-|                                                                 | vm-01-19 | Walkway                                                           |
-| [Category Stop Line](./category_stop_line.md)         | vm-02-01 | Stop line alignment                                               |
-|                                                                 | vm-02-02 | Stop sign                                                         |
-| [Category Intersection](./category_intersection.md)   | vm-03-01 | Intersection criteria                                             |
-|                                                                 | vm-03-02 | Lanelet's turn direction and virtual                              |
-|                                                                 | vm-03-03 | Lanelet width in the intersection                                 |
-|                                                                 | vm-03-04 | Lanelet creation in the intersection                              |
-|                                                                 | vm-03-05 | Lanelet division in the intersection                              |
-|                                                                 | vm-03-06 | Guide lines in the intersection                                   |
-|                                                                 | vm-03-07 | Multiple lanelets in the intersection                             |
-|                                                                 | vm-03-08 | Intersection Area range                                           |
-|                                                                 | vm-03-09 | Range of Lanelet in the intersection                              |
-|                                                                 | vm-03-10 | Right of way (with signal)                                        |
-|                                                                 | vm-03-11 | Right of way (without signal)                                     |
-|                                                                 | vm-03-12 | Right of way supplements                                          |
-|                                                                 | vm-03-13 | Merging from private area, sidewalk                               |
-|                                                                 | vm-03-14 | Road marking                                                      |
-|                                                                 | vm-03-15 | Exclusive bicycle lane                                            |
-| [Category Traffic Light](./category_traffic_light.md) | vm-04-01 | Traffic light basics                                              |
-|                                                                 | vm-04-02 | Traffic light position and size                                   |
-|                                                                 | vm-04-03 | Traffic light lamps                                               |
-| [Category Crosswalk](./category_crosswalk.md)         | vm-05-01 | Crosswalks across the road                                        |
-|                                                                 | vm-05-02 | Crosswalks with pedestrian signals                                |
-|                                                                 | vm-05-03 | Deceleration for safety at crosswalks                             |
-|                                                                 | vm-05-04 | Fences                                                            |
-| [Category Area](./category_area.md)                   | vm-06-01 | Buffer Zone                                                       |
-|                                                                 | vm-06-02 | No parking signs                                                  |
-|                                                                 | vm-06-03 | No stopping signs                                                 |
-|                                                                 | vm-06-04 | No stopping sections                                              |
-|                                                                 | vm-06-05 | Detection area                                                    |
-| [Category Others](./category_others.md)               | vm-07-01 | Vector Map creation range                                         |
-|                                                                 | vm-07-02 | Range of detecting pedestrians who enter the road                 |
-|                                                                 | vm-07-03 | Guardrails, guard pipes, fences                                   |
-|                                                                 | vm-07-04 | Ellipsoidal height                                                |
+| Category                                              | ID       | Requirements                                            |
+| ----------------------------------------------------- | -------- | ------------------------------------------------------- |
+| [Category Lane](./category_lane.md)                   | vm-01-01 | Lanelet basics                                          |
+|                                                       | vm-01-02 | Allowance for lane changes                              |
+|                                                       | vm-01-03 | Linestring sharing                                      |
+|                                                       | vm-01-04 | Sharing of the centerline of lanes for opposing traffic |
+|                                                       | vm-01-05 | Lane geometry                                           |
+|                                                       | vm-01-06 | Line position (1)                                       |
+|                                                       | vm-01-07 | Line position (2)                                       |
+|                                                       | vm-01-08 | Line position (3)                                       |
+|                                                       | vm-01-09 | Speed limits                                            |
+|                                                       | vm-01-10 | Centerline                                              |
+|                                                       | vm-01-11 | Centerline connection (1)                               |
+|                                                       | vm-01-12 | Centerline connection (2)                               |
+|                                                       | vm-01-13 | Roads with no centerline (1)                            |
+|                                                       | vm-01-14 | Roads with no centerline (2)                            |
+|                                                       | vm-01-15 | Road shoulder                                           |
+|                                                       | vm-01-16 | Road shoulder Linestring sharing                        |
+|                                                       | vm-01-17 | Side strip                                              |
+|                                                       | vm-01-18 | Side strip Linestring sharing                           |
+|                                                       | vm-01-19 | Walkway                                                 |
+| [Category Stop Line](./category_stop_line.md)         | vm-02-01 | Stop line alignment                                     |
+|                                                       | vm-02-02 | Stop sign                                               |
+| [Category Intersection](./category_intersection.md)   | vm-03-01 | Intersection criteria                                   |
+|                                                       | vm-03-02 | Lanelet's turn direction and virtual                    |
+|                                                       | vm-03-03 | Lanelet width in the intersection                       |
+|                                                       | vm-03-04 | Lanelet creation in the intersection                    |
+|                                                       | vm-03-05 | Lanelet division in the intersection                    |
+|                                                       | vm-03-06 | Guide lines in the intersection                         |
+|                                                       | vm-03-07 | Multiple lanelets in the intersection                   |
+|                                                       | vm-03-08 | Intersection Area range                                 |
+|                                                       | vm-03-09 | Range of Lanelet in the intersection                    |
+|                                                       | vm-03-10 | Right of way (with signal)                              |
+|                                                       | vm-03-11 | Right of way (without signal)                           |
+|                                                       | vm-03-12 | Right of way supplements                                |
+|                                                       | vm-03-13 | Merging from private area, sidewalk                     |
+|                                                       | vm-03-14 | Road marking                                            |
+|                                                       | vm-03-15 | Exclusive bicycle lane                                  |
+| [Category Traffic Light](./category_traffic_light.md) | vm-04-01 | Traffic light basics                                    |
+|                                                       | vm-04-02 | Traffic light position and size                         |
+|                                                       | vm-04-03 | Traffic light lamps                                     |
+| [Category Crosswalk](./category_crosswalk.md)         | vm-05-01 | Crosswalks across the road                              |
+|                                                       | vm-05-02 | Crosswalks with pedestrian signals                      |
+|                                                       | vm-05-03 | Deceleration for safety at crosswalks                   |
+|                                                       | vm-05-04 | Fences                                                  |
+| [Category Area](./category_area.md)                   | vm-06-01 | Buffer Zone                                             |
+|                                                       | vm-06-02 | No parking signs                                        |
+|                                                       | vm-06-03 | No stopping signs                                       |
+|                                                       | vm-06-04 | No stopping sections                                    |
+|                                                       | vm-06-05 | Detection area                                          |
+| [Category Others](./category_others.md)               | vm-07-01 | Vector Map creation range                               |
+|                                                       | vm-07-02 | Range of detecting pedestrians who enter the road       |
+|                                                       | vm-07-03 | Guardrails, guard pipes, fences                         |
+|                                                       | vm-07-04 | Ellipsoidal height                                      |

From 71a697b71545bccc114f2678c473820dac41ff31 Mon Sep 17 00:00:00 2001
From: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Date: Mon, 24 Jun 2024 18:14:24 +0900
Subject: [PATCH 10/20] feat(doc): revert "feat(doc): add
 `--download-artifacts` option to docker-installation.md" (#571)

Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 docs/installation/autoware/docker-installation.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/installation/autoware/docker-installation.md b/docs/installation/autoware/docker-installation.md
index 53f3de78a52..74d3fef3c5a 100644
--- a/docs/installation/autoware/docker-installation.md
+++ b/docs/installation/autoware/docker-installation.md
@@ -18,13 +18,13 @@ Open AD Kit offers two types of Docker image to let you get started with Autowar
 The [setup script](https://github.com/autowarefoundation/autoware/blob/main/setup-dev-env.sh) will install all required dependencies with the setup script:
 
 ```bash
-./setup-dev-env.sh -y --download-artifacts docker
+./setup-dev-env.sh -y docker
 ```
 
 To install without **NVIDIA GPU** support:
 
 ```bash
-./setup-dev-env.sh -y --no-nvidia --download-artifacts docker
+./setup-dev-env.sh -y --no-nvidia docker
 ```
 
 !!! info

From 5112f456988db9e7eb222e242d655fa03d1ac778 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?=
 <xmfcx@users.noreply.github.com>
Date: Mon, 24 Jun 2024 12:59:54 +0300
Subject: [PATCH 11/20] feat(support-guidelines): update guidelines for
 Autoware community support (#578)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 docs/support/support-guidelines.md | 108 +++++++++++++++++++++++------
 1 file changed, 85 insertions(+), 23 deletions(-)

diff --git a/docs/support/support-guidelines.md b/docs/support/support-guidelines.md
index d84a73d27c5..78519f3ea9c 100644
--- a/docs/support/support-guidelines.md
+++ b/docs/support/support-guidelines.md
@@ -10,19 +10,53 @@ This page explains the support mechanisms we provide.
 Choose appropriate resources depending on what kind of help you need and read the detailed description in the sections below.
 
 - [Documentation sites](#documentation-sites)
-  - Various information
+  - Gathering information
 - [GitHub Discussions](#github-discussions)
-  - Questions
-  - Unconfirmed bugs
-  - Feature requests
-  - Design discussions
+  - Questions or unconfirmed bugs -> [Q&A](https://github.com/orgs/autowarefoundation/discussions/categories/q-a)
+  - [Feature requests](https://github.com/orgs/autowarefoundation/discussions/categories/feature-requests)
+  - [Design discussions](https://github.com/orgs/autowarefoundation/discussions/categories/design)
 - [GitHub Issues](#github-issues)
   - Confirmed bugs
+  - Confirmed tasks
 - [Discord](#discord)
   - Instant messaging between contributors
 - [ROS Discourse](#ros-discourse)
   - General topics that should be widely announced
 
+## Guidelines for Autoware community support
+
+If you encounter a problem with Autoware, please follow these steps to seek help:
+
+### 1. Search for existing Issues and Questions
+
+Before creating a new issue or question, check if someone else has already reported or asked about the problem. Use the following resources:
+
+- **[Issues](https://github.com/autowarefoundation/autoware/issues)**
+
+  Note that Autoware has multiple repositories listed in [autoware.repos](https://github.com/autowarefoundation/autoware/blob/main/autoware.repos).
+  It is recommended to search across all repositories.
+
+- **[Questions](https://github.com/autowarefoundation/autoware/discussions/categories/q-a)**
+
+### 2. Create a new question thread
+
+If you don't find an existing issue or question that addresses your problem, create a new question thread:
+
+- **[Ask a Question](https://github.com/autowarefoundation/autoware/discussions/categories/q-a)**
+
+  If your question is not answered within a week, mention `@autoware-maintainers` in a post to remind them.
+
+### 3. Participate in other discussions
+
+You are also welcome to open or join discussions in other categories:
+
+- **[Feature requests](https://github.com/autowarefoundation/autoware/discussions/categories/feature-requests)**
+- **[Design discussions](https://github.com/autowarefoundation/autoware/discussions/categories/design)**
+
+### Additional resources
+
+If you are unsure how to create a discussion, refer to the [GitHub Docs on creating a new discussion](https://docs.github.com/en/discussions/quickstart#creating-a-new-discussion).
+
 ## Documentation sites
 
 [Docs guide](docs-guide.md) shows the list of useful documentation sites.
@@ -31,39 +65,67 @@ Visit them and see if there is any information related to your problem.
 Note that the documentation sites aren't always up-to-date and perfect.
 If you find out that some information is wrong, unclear, or missing in Autoware docs, feel free to submit a pull request following the [contribution guidelines](../contributing/index.md).
 
+## GitHub Discussions
+
+[GitHub discussions page](https://github.com/orgs/autowarefoundation/discussions) is the primary place for asking questions and discussing topics related to Autoware.
+
+| Category                                                                                                               | Description                                                             |
+| :--------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------- |
+| [Announcements](https://github.com/orgs/autowarefoundation/discussions/categories/announcements)                       | Official updates and news from the Autoware maintainers                 |
+| [Design](https://github.com/orgs/autowarefoundation/discussions/categories/design)                                     | Discussions on Autoware system and software design                      |
+| [Feature requests](https://github.com/orgs/autowarefoundation/discussions/categories/feature-requests)                 | Suggestions for new features and improvements                           |
+| [General](https://github.com/orgs/autowarefoundation/discussions/categories/general)                                   | General discussions about Autoware                                      |
+| [Ideas](https://github.com/orgs/autowarefoundation/discussions/categories/ideas)                                       | Brainstorming and sharing innovative ideas                              |
+| [Polls](https://github.com/orgs/autowarefoundation/discussions/categories/polls)                                       | Community polls and surveys                                             |
+| [Q&A](https://github.com/orgs/autowarefoundation/discussions/categories/q-a)                                           | Questions and answers from the community and developers                 |
+| [Show and tell](https://github.com/orgs/autowarefoundation/discussions/categories/show-and-tell)                       | Showcase of projects and achievements                                   |
+| [TSC meetings](https://github.com/orgs/autowarefoundation/discussions/categories/tsc-meetings)                         | Minutes and discussions from TSC(Technical Steering Committee) meetings |
+| [Working group activities](https://github.com/orgs/autowarefoundation/discussions/categories/working-group-activities) | Updates on working group activities                                     |
+| [Working group meetings](https://github.com/orgs/autowarefoundation/discussions/categories/working-group-meetings)     | Minutes and discussions from working group meetings                     |
+
 !!! warning
 
-    Since this documentation site is still under construction, there are some empty pages.
+    GitHub Discussions is not the right place to track tasks or bugs. Use GitHub Issues for that purpose.
 
-## GitHub Discussions
+## GitHub Issues
 
-If you encounter a problem with Autoware, check existing issues and questions and search for similar issues first.
+GitHub Issues is the designated platform for tracking confirmed bugs, tasks, and enhancements within Autoware's various repositories.
 
-- [Issues](https://github.com/autowarefoundation/autoware/issues)
+Follow these guidelines to ensure efficient issue tracking and resolution:
 
-  Note that Autoware has multiple repositories listed in [autoware.repos](https://github.com/autowarefoundation/autoware/blob/main/autoware.repos).  
-  It is recommended to search across the repositories.
+### Reporting bugs
 
-- [Questions](https://github.com/autowarefoundation/autoware/discussions/categories/q-a)
+If you encounter a confirmed bug, please report it by creating an issue in the appropriate Autoware repository.
+Include detailed information such as steps to reproduce, expected outcomes, and actual results to assist maintainers in addressing the issue promptly.
 
-If no answer was found, create a new question thread [here](https://github.com/autowarefoundation/autoware/discussions/categories/q-a).
-If your question is not answered within a week, then @mention the maintainers to remind them.
+### Tracking tasks
 
-Also, there are other discussion types such as [feature requests](https://github.com/autowarefoundation/autoware/discussions/categories/feature-requests) or [design discussions](https://github.com/autowarefoundation/autoware/discussions/categories/design).
-Feel free to open or join such discussions.
+GitHub Issues is also the place for managing tasks including:
 
-If you don't know how to create a discussion, refer to [GitHub Docs](https://docs.github.com/en/discussions/quickstart#creating-a-new-discussion).
+- **Refactoring:** Propose refactoring existing code to improve efficiency, readability, or maintainability. Clearly describe what and why you propose to refactor.
+- **New Features:** If you have confirmed the need for a new feature through discussions, use Issues to track its development. Outline the feature's purpose, potential designs, and its intended impact.
+- **Documentation:** Propose changes to documentation to fix inaccuracies, update outdated content, or add new sections. Specify what changes are needed and why they are important.
 
-## GitHub Issues
+### Creating an issue
 
-If you have a problem and you have confirmed it is a bug, find the appropriate repository and create a new issue there.
-If you can't determine the appropriate repository, ask the maintainers for help by creating a new discussion in the [Q&A category](https://github.com/autowarefoundation/autoware/discussions/categories/q-a).
+When creating a new issue, use the following guidelines:
 
-!!! warning
+1. **Choose the Correct Repository**: If unsure which repository is appropriate, start a discussion in the [Q&A category](https://github.com/autowarefoundation/autoware/discussions/categories/q-a) to seek guidance from maintainers.
+2. **Use Clear, Concise Titles**: Clearly summarize the issue or task in the title for quick identification.
+3. **Provide Detailed Descriptions**: Include all necessary details to understand the context and scope of the issue. Attach screenshots, error logs, and code snippets where applicable.
+4. **Tag Relevant Contributors**: Mention contributors or teams that might be impacted by or interested in the issue.
+
+### Linking issues and pull requests
 
-    Do not create issues for questions or unconfirmed bugs. If such issues are created, maintainers will transfer them to GitHub Discussions.
+When you start working on an issue, link the related pull request to the issue by mentioning the issue number.
+This helps maintain a clear and traceable development history.
+
+For more details, see the [Pull Request Guidelines page](../contributing/pull-request-guidelines/index.md).
+
+!!! warning
 
-If you want to fix the bug by yourself, discuss the approach with maintainers and submit a pull request.
+    GitHub Issues is not for questions or unconfirmed bugs. If an issue is created for such purposes,
+    it will likely be transferred to GitHub Discussions for further clarification.
 
 ## Discord
 

From 80f322fa9e967f84d39d8a43b02bc06109c244bb Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Wed, 26 Jun 2024 13:35:20 +0900
Subject: [PATCH 12/20] feat(ad-api): add routing api description (#555)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .../autoware-interfaces/ad-api/list/api/routing/set_route.md     | 1 +
 .../ad-api/list/api/routing/set_route_points.md                  | 1 +
 2 files changed, 2 insertions(+)

diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md
index d80b8ac5138..a7338b1c45c 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md
@@ -19,4 +19,5 @@ type:
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Set the route with the waypoint segments in lanelet format. If start pose is not specified, the current pose will be used.
+This API only accepts the route when the route state is UNSET. In any other state, clear the route first.
 {% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md
index 0b80cf71ecd..b95f8fae903 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md
@@ -19,4 +19,5 @@ type:
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Set the route with the waypoint poses. If start pose is not specified, the current pose will be used.
+This API only accepts the route when the route state is UNSET. In any other state, clear the route first.
 {% endblock %}

From 3003ad6e6274ecba23fe68fff0c6567b2a88a945 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Wed, 26 Jun 2024 18:22:43 +0900
Subject: [PATCH 13/20] fix: layout issues

Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .../map/map-requirements/category_area.md           |  4 +++-
 .../map/map-requirements/category_lane.md           | 13 +++++++------
 .../map/map-requirements/category_others.md         |  4 ++--
 .../map/map-requirements/overview.md                |  5 ++++-
 4 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/docs/design/autoware-architecture/map/map-requirements/category_area.md b/docs/design/autoware-architecture/map/map-requirements/category_area.md
index c76eb961bb5..fdb1986f606 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_area.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_area.md
@@ -15,7 +15,9 @@ Create a Polygon (_type:hatched_road_markings_) when a Buffer Zone (also known a
 
 In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area and proceeds through it.
 
-!!! Caution - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
+##### Caution
+
+- Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
 
 ![svg](./assets/vm-06-01_1.svg)
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
index 393d8180a45..d94d39f9ddd 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_lane.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_lane.md
@@ -173,11 +173,11 @@ None in particular.
 
 If there are no lines on the outer side within the road, position the Linestring 0.5 m from the road's edge.
 
-!!! Caution
+![svg](./assets/vm-01-08_1.svg)
 
-    The width depends on the laws of your country.
+##### Caution
 
-![svg](./assets/vm-01-08_1.svg)
+The width depends on the laws of your country.
 
 #### Preferred vector map <!-- omit in toc -->
 
@@ -223,11 +223,12 @@ Autoware is designed to move through the midpoint calculated from a Lanelet's le
 
 Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.
 
-!!!Caution
-'Centerline' is a distinct concept from the central lane division line (centerline).
-
 ![svg](./assets/vm-01-10_1.svg)
 
+##### Caution
+
+'Centerline' is a distinct concept from the central lane division line (centerline).
+
 #### Preferred vector map <!-- omit in toc -->
 
 ![svg](./assets/vm-01-10_2.svg)
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_others.md b/docs/design/autoware-architecture/map/map-requirements/category_others.md
index 2abe4fdb287..ee70acf4a79 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_others.md
+++ b/docs/design/autoware-architecture/map/map-requirements/category_others.md
@@ -19,9 +19,9 @@ Refer to [vm-03-04](./category_intersection.md#vm-03-04-lanelet-creation-in-the-
 
 Autoware detects approaching vehicles and plans a route to avoid collisions.
 
-!!! Caution
+##### Caution
 
-    Check the range of sensors on your vehicle.
+Check the range of sensors on your vehicle.
 
 #### Preferred vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/overview.md
index cbd44f1d522..22cf2788111 100644
--- a/docs/design/autoware-architecture/map/map-requirements/overview.md
+++ b/docs/design/autoware-architecture/map/map-requirements/overview.md
@@ -20,7 +20,10 @@ Which requirements apply entirely depends on the configuration of the Autoware s
 
 Next, you must comply with the laws of the country where the autonomous driving vehicle will be operating. It is your responsibility to choose which of the following requirements to apply according to the laws.
 
-!!!Caution - The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries. - The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
+### Caution
+
+- The examples of the road signs and road surface markings are used in Japan. Please replace them with those used in your respective countries.
+- The values for range and distance indicated are minimum values. Please determine values that comply with the laws of your country. Furthermore, these minimum values may change depending on the maximum velocity of the autonomous driving vehicle.
 
 ## List of Requirement Specifications
 

From 5538066243ec8d09a78859dcd6f7d48a8ad50eb3 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Tue, 2 Jul 2024 09:49:29 +0900
Subject: [PATCH 14/20] fix a dead link

Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .../autoware-architecture/map/map-requirements/overview.md      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/overview.md
index 22cf2788111..7d5064af659 100644
--- a/docs/design/autoware-architecture/map/map-requirements/overview.md
+++ b/docs/design/autoware-architecture/map/map-requirements/overview.md
@@ -6,7 +6,7 @@ Autoware relies on high-definition point cloud maps and vector maps of the drivi
 
 A vector map contains highly accurate information about a road network, lane geometry, and traffic lights. It is required for route planning, traffic light detection, and predicting the trajectories of other vehicles and pedestrians.
 
-Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md), which is based on the [lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) format and extended for Autoware.
+Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md), which is based on the [lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) format and extended for Autoware.
 
 The primitives (basic components) used in Vector Map are explained in [Web.Auto Docs - What is Lanelet2](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction#what-is-lanelet2). The following **Vector Map creation requirement specifications** are written on the premise of these knowledge.
 

From 16fe2d858ea0a3c4cd84c2c4592fd5cb0c070b3a Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Tue, 2 Jul 2024 20:35:52 +0900
Subject: [PATCH 15/20] delete an unnecessary file

Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .../map/map-requirements/assets/vm-07-03.svg  | 166 ------------------
 1 file changed, 166 deletions(-)
 delete mode 100644 docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03.svg

diff --git a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03.svg b/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03.svg
deleted file mode 100644
index 524171fb254..00000000000
--- a/docs/design/autoware-architecture/map/map-requirements/assets/vm-07-03.svg
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From e1b9d35cf962bd21cd07ebe732cf0b77f008bac5 Mon Sep 17 00:00:00 2001
From: "Md. Muhaimin Rahman" <sezan92@gmail.com>
Date: Wed, 26 Jun 2024 19:41:39 +0900
Subject: [PATCH 16/20] fix(perception-architecture): correct a typo (#582)

Signed-off-by: Md. Muhaimin Rahman <sezan92@gmail.com>
Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 docs/design/autoware-architecture/perception/index.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/design/autoware-architecture/perception/index.md b/docs/design/autoware-architecture/perception/index.md
index 9ce29a31241..b1687b89491 100644
--- a/docs/design/autoware-architecture/perception/index.md
+++ b/docs/design/autoware-architecture/perception/index.md
@@ -78,7 +78,7 @@ The following describes the input/output concept between Perception Component an
 - **From Localization**: This input should provide real-time information about the ego vehicle.
   - Vehicle motion information: Includes the ego vehicle's position.
 - **From Map**: This input should provide real-time information about the static information about the environment.
-  - Vector Map: Contains all static information about the environment, including lane aria information.
+  - Vector Map: Contains all static information about the environment, including lane area information.
   - Point Cloud Map: Contains static point cloud maps, which should not include information about the dynamic objects.
 - **From API**:
   - V2X information: The information from V2X modules. For example, the information from traffic signals.

From 6e9226e87223fb89ec9d1841c6df022ad022cc64 Mon Sep 17 00:00:00 2001
From: fixposition-support <github@fixposition.com>
Date: Wed, 26 Jun 2024 14:44:59 +0200
Subject: [PATCH 17/20] docs: update Fixposition documentation (#566)

* Update Fixposition docs

Signed-off-by: Fixposition Support <github@fixposition.com>

* Ignore spell checker

Signed-off-by: Fixposition Support <github@fixposition.com>

---------

Signed-off-by: Fixposition Support <github@fixposition.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 docs/reference-hw/imu_ahrs_gnss_ins.md | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/docs/reference-hw/imu_ahrs_gnss_ins.md b/docs/reference-hw/imu_ahrs_gnss_ins.md
index af5dd26ba0a..65f3c2a9efc 100644
--- a/docs/reference-hw/imu_ahrs_gnss_ins.md
+++ b/docs/reference-hw/imu_ahrs_gnss_ins.md
@@ -70,7 +70,7 @@ Link to ROS 2 driver:
 Link to company website:  
 [https://www.applanix.com/products/poslv.htm](https://www.applanix.com/products/poslv.htm)
 
-## **PolyExplore GNSS/INS Sensors**
+## **PolyExplore GNSS/INS Sensors** <!-- cspell: ignore  PolyExplore -->
 
 ![images/gnss-polyexplore.png](images/gnss-polyexplore.png)
 
@@ -87,7 +87,7 @@ Link to ROS 2 driver:
 Link to company website:  
 [https://www.polyexplore.com/](https://www.polyexplore.com/)
 
-## **Fix Position GNSS/INS Sensors**
+## **Fixposition Visual GNSS/INS Sensors** <!-- cspell: ignore  Fixposition -->
 
 ![images/gnss-fixposition.png](images/gnss-fixposition.png)
 
@@ -100,3 +100,8 @@ Link to ROS 2 driver:
 
 Link to company website:  
 [https://www.fixposition.com/](https://www.fixposition.com/)
+
+Additional utilities:
+
+- Fixposition GNSS transformation lib: [https://github.com/fixposition/fixposition_gnss_tf](https://github.com/fixposition/fixposition_gnss_tf)
+- Miscellaneous utilities (logging, software update, ...): [https://github.com/fixposition/fixposition_utility](https://github.com/fixposition/fixposition_utility)

From 34f5543e1ef41bd228e9492a4092c7280d19b83a Mon Sep 17 00:00:00 2001
From: Go Sakayori <go-sakayori@users.noreply.github.com>
Date: Mon, 1 Jul 2024 19:26:07 +0900
Subject: [PATCH 18/20] fix: planning links (#583)

* fix table

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* fix reference implementation links

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* style(pre-commit): autofix

* fix typo

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* fix links

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* fix

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

---------

Signed-off-by: Go Sakayori <gsakayori@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .../autoware-architecture/planning/index.md   | 132 +++++++++---------
 1 file changed, 66 insertions(+), 66 deletions(-)

diff --git a/docs/design/autoware-architecture/planning/index.md b/docs/design/autoware-architecture/planning/index.md
index c26d3a0d35a..97c9fc1ff07 100644
--- a/docs/design/autoware-architecture/planning/index.md
+++ b/docs/design/autoware-architecture/planning/index.md
@@ -153,45 +153,45 @@ This section describes the inputs and outputs of the Planning Component and of i
 
 ### Supported features
 
-| Feature                                      | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              | Requirements                                                                | Figure                                                                          | Demonstration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
-| -------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Route Planning                               | Plan route from the ego vehicle position to the destination.<br> <br> Reference implementation is in [Mission Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/mission_planner/), enabled by launching the `mission_planner` node.                                                                                                                                                                                                                                                                          | - Lanelet map (driving lanelets)                                            | ![route-planning](image/features-route-planning.drawio.svg)                     |
-| Path Planning from Route                     | Plan path to be followed from the given route. <br> <br> Reference implementation is in [Behavior Path Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/).                                                                                                                                                                                                                                                                                                                            | - Lanelet map (driving lanelets)                                            | ![lane-follow](image/features-lane-follow.drawio.svg)                           |
-| Obstacle Avoidance                           | Plan path to avoid obstacles by steering operation. <br> <br> Reference implementation is in [Avoidance](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design/), [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/). Enable flag in parameter: `launch obstacle_avoidance_planner true`                                                                                    | - objects information                                                       | ![obstacle-avoidance](image/features-avoidance.drawio.svg)                      | [Demonstration Video](https://youtu.be/A_V9yvfKZ4E) <br> [![Demonstration Video](https://img.youtube.com/vi/A_V9yvfKZ4E/0.jpg)](https://www.youtube.com/watch?v=A_V9yvfKZ4E)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Path Smoothing                               | Plan path to achieve smooth steering. <br> <br> Reference implementation is in [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/).                                                                                                                                                                                                                                                                                                                           | - Lanelet map (driving lanelet)                                             | ![path-smoothing](image/features-path-smoothing.drawio.svg)                     | [Demonstration Video](https://youtu.be/RhyAF26Ppzs) <br> [![Demonstration Video](https://img.youtube.com/vi/RhyAF26Ppzs/0.jpg)](https://www.youtube.com/watch?v=RhyAF26Ppzs)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Narrow Space Driving                         | Plan path to drive within the drivable area. Furthermore, when it is not possible to drive within the drivable area, stop the vehicle to avoid exiting the drivable area. <br> <br> Reference implementation is in [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/).                                                                                                                                                                                       | - Lanelet map (high-precision lane boundaries)                              | ![narrow-space-driving](image/features-narrow-space-driving.drawio.svg)         | [Demonstration Video](https://youtu.be/URzcLO2E1vY) <br> [![Demonstration Video](https://img.youtube.com/vi/URzcLO2E1vY/0.jpg)](https://www.youtube.com/watch?v=URzcLO2E1vY)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Lane Change                                  | Plan path for lane change to reach the destination. <br> <br> Reference implementation is in [Lane Change](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design/).                                                                                                                                                                                                                                                                                   | - Lanelet map (driving lanelets)                                            | ![lane-change](image/features-lane-change.drawio.svg)                           | [Demonstration Video](https://youtu.be/0jRDGQ84cD4) <br> [![Demonstration Video](https://img.youtube.com/vi/0jRDGQ84cD4/0.jpg)](https://www.youtube.com/watch?v=0jRDGQ84cD4)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Pull Over                                    | Plan path for pull over to park at the road shoulder. <br> <br> Reference implementation is in [Goal Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design/).                                                                                                                                                                                                                                                                               | - Lanelet map (shoulder lane)                                               | ![pull-over](image/features-pull-over.drawio.svg)                               | Demonstration Videos: <br> [Simple Pull Over](https://youtu.be/r3-kAmTb4hc) <br> [![Demonstration Video](https://img.youtube.com/vi/r3-kAmTb4hc/0.jpg)](https://www.youtube.com/watch?v=r3-kAmTb4hc) <br> [Arc Forward Pull Over](https://youtu.be/ornbzkWxRWU) <br> [![Demonstration Video](https://img.youtube.com/vi/ornbzkWxRWU/0.jpg)](https://www.youtube.com/watch?v=ornbzkWxRWU) <br> [Arc Backward Pull Over](https://youtu.be/if-0tG3AkLo) <br> [![Demonstration Video](https://img.youtube.com/vi/if-0tG3AkLo/0.jpg)](https://www.youtube.com/watch?v=if-0tG3AkLo) |
-| Pull Out                                     | Plan path for pull over to start from the road shoulder. <br> <br> Reference implementation is in [Pull Out Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design/#:~:text=WIP-,Path%20Generation,-%23).                                                                                                                                                                                                                                    | - Lanelet map (shoulder lane)                                               | ![pull-out](image/features-pull-out.drawio.svg)                                 | Demonstration Video: <br> [Simple Pull Out](https://youtu.be/xOjnPqoHup4) <br> [![Demonstration Video](https://img.youtube.com/vi/xOjnPqoHup4/0.jpg)](https://www.youtube.com/watch?v=xOjnPqoHup4) <br> [Backward Pull Out](https://youtu.be/iGieijPcPcQ) <br> [![Demonstration Video](https://img.youtube.com/vi/iGieijPcPcQ/0.jpg)](https://www.youtube.com/watch?v=iGieijPcPcQ)                                                                                                                                                                                            |
-| Path Shift                                   | Plan path in lateral direction in response to external instructions. <br> <br> Reference implementation is in [Side Shift Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_side_shift_design/).                                                                                                                                                                                                                                                             | - None                                                                      | ![side-shift](image/features-side-shift.drawio.svg)                             |
-| Obstacle Stop                                | Plan velocity to stop for an obstacle on the path. <br> <br> Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). `launch obstacle_stop_planner` and enable flag: `TODO`, `launch obstacle_cruise_planner` and enable flag: `TODO`                                                                             | - objects information                                                       | ![obstacle-stop](image/features-obstacle-stop.drawio.svg)                       | [Demonstration Video](https://youtu.be/d8IRW_xArcE) <br> [![Demonstration Video](https://img.youtube.com/vi/d8IRW_xArcE/0.jpg)](https://www.youtube.com/watch?v=d8IRW_xArcE)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Obstacle Deceleration                        | Plan velocity to decelerate for an obstacle located around the path. <br> <br> Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/).                                                                                                                                                                            | - objects information                                                       | ![obstacle-decel](image/features-obstacle-decel.drawio.svg)                     | [Demonstration Video](https://youtu.be/gvN1otgeaaw) <br> [![Demonstration Video](https://img.youtube.com/vi/gvN1otgeaaw/0.jpg)](https://www.youtube.com/watch?v=gvN1otgeaaw)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Adaptive Cruise Control                      | Plan velocity to follow the vehicle driving in front of the ego vehicle. <br> <br> Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/).                                                                                                                                                                        | - objects information                                                       | ![adaptive-cruise](image/features-adaptive-cruise.drawio.svg)                   |
-| Decelerate for cut-in vehicles               | Plan velocity to avoid a risk for cutting-in vehicle to ego lane. <br> <br> Reference implementation is in [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/).                                                                                                                                                                                                                                                                                                     | - objects information                                                       | ![cut-in](image/features-cut-in.drawio.svg)                                     |
-| Surround Check at starting                   | Plan velocity to prevent moving when an obstacle exists around the vehicle. <br> <br> Reference implementation is in [Surround Obstacle Checker](https://autowarefoundation.github.io/autoware.universe/main/planning/surround_obstacle_checker/). Enable flag in parameter: `use_surround_obstacle_check true` in [tier4_planning_component.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/2850d7f4e20b173fde2183d5323debbe0067a990/autoware_launch/launch/components/tier4_planning_component.launch.xml#L8) < | - objects information                                                       | ![surround-check](image/features-surround-check.drawio.svg)                     | [Demonstration Video](https://youtu.be/bbGgtXN3lC4) <br> [![Demonstration Video](https://img.youtube.com/vi/bbGgtXN3lC4/0.jpg)](https://www.youtube.com/watch?v=bbGgtXN3lC4)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Curve Deceleration                           | Plan velocity to decelerate the speed on a curve. <br> <br> Reference implementation is in [Motion Velocity Smoother](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/).                                                                                                                                                                                                                                                                                                                   | - None                                                                      | ![decel-on-curve](image/features-decel-on-curve.drawio.svg)                     |
-| Curve Deceleration for Obstacle              | Plan velocity to decelerate the speed on a curve for a risk of obstacle collision around the path. <br> <br> Reference implementation is in [Obstacle Velocity Limiter](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_velocity_limiter/).                                                                                                                                                                                                                                                                | - objects information <br> - Lanelet map (static obstacle)                  | ![decel-on-curve-obstacles](image/features-decel-on-curve-obstacles.drawio.svg) | [Demonstration Video](https://youtu.be/I-oFgG6kIAs) <br> [![Demonstration Video](https://img.youtube.com/vi/I-oFgG6kIAs/0.jpg)](https://www.youtube.com/watch?v=I-oFgG6kIAs)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Crosswalk                                    | Plan velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk. <br> <br> Reference implementation is in [Crosswalk Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/).                                                                                                                                                                                                                                                                        | - objects information <br> - Lanelet map (pedestrian crossing)              | ![crosswalk](image/features-crosswalk.drawio.svg)                               | [Demonstration Video](https://youtu.be/tUvthyIL2W8) <br> [![Demonstration Video](https://img.youtube.com/vi/tUvthyIL2W8/0.jpg)](https://www.youtube.com/watch?v=tUvthyIL2W8)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Intersection Oncoming Vehicle Check          | Plan velocity for turning right/left at intersection to avoid a risk with oncoming other vehicles. <br> <br> Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/).                                                                                                                                                                                                                                                          | - objects information <br> - Lanelet map (intersection lane and yield lane) | ![intersection](image/features-intersection.drawio.svg)                         | [Demonstration Video](https://youtu.be/SGD07Hqg4Hk) <br> [![Demonstration Video](https://img.youtube.com/vi/SGD07Hqg4Hk/0.jpg)](https://www.youtube.com/watch?v=SGD07Hqg4Hk)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Intersection Blind Spot Check                | Plan velocity for turning right/left at intersection to avoid a risk with other vehicles or motorcycles coming from behind blind spot. <br> <br> Reference implementation is in [Blind Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_blind_spot_module/).                                                                                                                                                                                                                          | - objects information <br> - Lanelet map (intersection lane)                | ![blind-spot](image/features-blind-spot.drawio.svg)                             | [Demonstration Video](https://youtu.be/oaTCJRafDGA) <br> [![Demonstration Video](https://img.youtube.com/vi/oaTCJRafDGA/0.jpg)](https://www.youtube.com/watch?v=oaTCJRafDGA)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Intersection Occlusion Check                 | Plan velocity for turning right/left at intersection to avoid a risk with the possibility of coming vehicles from occlusion area. <br> <br> Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/).                                                                                                                                                                                                                           | - objects information <br> - Lanelet map (intersection lane)                | ![intersection-occlusion](image/features-intersection-occlusion.drawio.svg)     | [Demonstration Video](https://youtu.be/bAHXMB7kbFc) <br> [![Demonstration Video](https://img.youtube.com/vi/bAHXMB7kbFc/0.jpg)](https://www.youtube.com/watch?v=bAHXMB7kbFc)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Intersection Traffic Jam Detection           | Plan velocity for intersection not to enter the intersection when a vehicle is stopped ahead for a traffic jam. <br> <br> Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/).                                                                                                                                                                                                                                             | - objects information <br> - Lanelet map (intersection lane)                | ![intersection-traffic-jam](image/features-intersection-traffic-jam.drawio.svg) | [Demonstration Video](https://youtu.be/negK4VbrC5o) <br> [![Demonstration Video](https://img.youtube.com/vi/negK4VbrC5o/0.jpg)](https://www.youtube.com/watch?v=negK4VbrC5o)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Traffic Light                                | Plan velocity for intersection according to a traffic light signal. <br> <br> Reference implementation is in [Traffic Light Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/).                                                                                                                                                                                                                                                                                       | - Traffic light color information                                           | ![traffic-light](image/features-traffic-light.drawio.svg)                       | [Demonstration Video](https://youtu.be/lGA53KljQrM) <br> [![Demonstration Video](https://img.youtube.com/vi/lGA53KljQrM/0.jpg)](https://www.youtube.com/watch?v=lGA53KljQrM)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Run-out Check                                | Plan velocity to decelerate for the possibility of nearby objects running out into the path. <br> <br> Reference implementation is in [Run Out Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_run_out_module/).                                                                                                                                                                                                                                                                          | - objects information                                                       | ![run-out](image/features-run-out.drawio.svg)                                   | [Demonstration Video](https://youtu.be/9IDggldT2t0) <br> [![Demonstration Video](https://img.youtube.com/vi/9IDggldT2t0/0.jpg)](https://www.youtube.com/watch?v=9IDggldT2t0)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Stop Line                                    | Plan velocity to stop at a stop line. <br> <br> Reference implementation is in [Stop Line Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_stop_line_module/).                                                                                                                                                                                                                                                                                                                             | - Lanelet map (stop line)                                                   | ![stop-line](image/features-stop-line.drawio.svg)                               | [Demonstration Video](https://youtu.be/eej9jYt-GSE) <br> [![Demonstration Video](https://img.youtube.com/vi/eej9jYt-GSE/0.jpg)](https://www.youtube.com/watch?v=eej9jYt-GSE)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Occlusion Spot Check                         | Plan velocity to decelerate for objects running out from occlusion area, for example, from behind a large vehicle. <br> <br> Reference implementation is in [Occlusion Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_occlusion_spot_module/).                                                                                                                                                                                                                                      | - objects information <br> - Lanelet map (private/public lane)              | ![occlusion-spot](image/features-occlusion-spot.drawio.svg)                     | [Demonstration Video](https://youtu.be/3qs8Ivjh1fs) <br> [![Demonstration Video](https://img.youtube.com/vi/3qs8Ivjh1fs/0.jpg)](https://www.youtube.com/watch?v=3qs8Ivjh1fs)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| No Stop Area                                 | Plan velocity not to stop in areas where stopping is prohibited, such as in front of the fire station entrance. <br> <br> Reference implementation is in [No Stopping Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_stopping_area_module/).                                                                                                                                                                                                                                     | - Lanelet map (no stopping area)                                            | ![no-stopping-area](image/features-no-stopping-area.drawio.svg)                 |
-| Merge from Private Area to Public Road       | Plan velocity for entering the public road from a private driveway to avoid a risk of collision with pedestrians or other vehicles. <br> <br> Reference implementation is in [Merge from Private Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/).                                                                                                                                                                                                              | - objects information <br> - Lanelet map (private/public lane)              | WIP                                                                             |
-| Speed Bump                                   | Plan velocity to decelerate for speed bumps. <br> <br> Reference implementation is in [Speed Bump Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_speed_bump_module/).                                                                                                                                                                                                                                                                                                                    | - Lanelet map (speed bump)                                                  | ![speed-bump](image/features-speed-bump.drawio.svg)                             | [Demonstration Video](https://youtu.be/FpX3q3YaaCw) <br> [![Demonstration Video](https://img.youtube.com/vi/FpX3q3YaaCw/0.jpg)](https://www.youtube.com/watch?v=FpX3q3YaaCw)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Detection Area                               | Plan velocity to stop at the corresponding stop when an object exist in the designated detection area. <br> <br> Reference implementation is in [Detection Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/).                                                                                                                                                                                                                                                  | - Lanelet map (detection area)                                              | ![detection-area](image/features-detection-area.drawio.svg)                     | [Demonstration Video](https://youtu.be/YzXF4U69lJs) <br> [![Demonstration Video](https://img.youtube.com/vi/YzXF4U69lJs/0.jpg)](https://www.youtube.com/watch?v=YzXF4U69lJs)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| No Drivable Lane                             | Plan velocity to stop before exiting the area designated by ODD (Operational Design Domain) or stop the vehicle if autonomous mode started in out of ODD lane. <br> <br> Reference implementation is in [No Drivable Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_drivable_lane_module/).                                                                                                                                                                                      | - Lanelet map (no drivable lane)                                            | ![no-drivable-lane](image/features-no-drivable-lane.drawio.svg)                 |
-| Collision Detection when deviating from lane | Plan velocity to avoid conflict with other vehicles driving in the another lane when the ego vehicle is deviating from own lane. <br> <br> Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_out_of_lane_module/).                                                                                                                                                                                                                              | - objects information <br> - Lanelet map (driving lane)                     | WIP                                                                             |
-| Parking                                      | Plan path and velocity for given goal in parking area. <br> <br> Reference implementation is in [Free Space Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/freespace_planner/).                                                                                                                                                                                                                                                                                                                           | - objects information <br> - Lanelet map (parking area)                     | ![parking](image/features-parking.drawio.svg)                                   | [Demonstration Video](https://youtu.be/rAIYmwpNWfA) <br> [![Demonstration Video](https://img.youtube.com/vi/rAIYmwpNWfA/0.jpg)](https://www.youtube.com/watch?v=rAIYmwpNWfA)                                                                                                                                                                                                                                                                                                                                                                                                  |
-| Autonomous Emergency Braking (AEB)           | Perform an emergency stop if a collision with an object ahead is anticipated. It is noted that this function is expected as a final safety layer, and this should work even in the event of failures in the Localization or Perception system. <br> <br> Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_out_of_lane_module/).                                                                                                                | - Primitive objects                                                         | ![aeb](image/features-aeb.drawio.svg)                                           |
-| Minimum Risk Maneuver (MRM)                  | Provide appropriate MRM (Minimum Risk Maneuver) instructions when a hazardous event occurs. For example, when a sensor trouble found, send an instruction for emergency braking, moderate stop, or pulling over to the shoulder, depending on the severity of the situation. <br> <br> Reference implementation is in TODO                                                                                                                                                                                                               | - TODO                                                                      | WIP                                                                             |
-| Trajectory Validation                        | Check the planned trajectory is safe. If it is unsafe, take appropriate action, such as modify the trajectory, stop sending the trajectory or report to the autonomous driving system. <br> <br> Reference implementation is in [Planning Validator](https://autowarefoundation.github.io/autoware.universe/main/planning/planning_validator/).                                                                                                                                                                                          | - None                                                                      | ![trajectory-validation](image/features-trajectory-validation.drawio.svg)       |
-| Running Lane Map Generation                  | Generate lane map from localization data recorded in manual driving. <br> <br> Reference implementation is in WIP                                                                                                                                                                                                                                                                                                                                                                                                                        | - None                                                                      | WIP                                                                             |
-| Running Lane Optimization                    | Optimize the centerline (reference path) of the map to make it smooth considering the vehicle kinematics. <br> <br> Reference implementation is in [Static Centerline Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/static_centerline_optimizer/).                                                                                                                                                                                                                                                     | - Lanelet map (driving lanes)                                               | WIP                                                                             |
+| Feature                                      | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       | Requirements                                                                | Figure                                                                          | Demonstration                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Route Planning                               | Plan route from the ego vehicle position to the destination.<br> <br> Reference implementation is in [Mission Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_mission_planner/), enabled by launching the `mission_planner` node.                                                                                                                                                                                                                                                                          | - Lanelet map (driving lanelets)                                            | ![route-planning](image/features-route-planning.drawio.svg)                     |
+| Path Planning from Route                     | Plan path to be followed from the given route. <br> <br> Reference implementation is in [Behavior Path Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/).                                                                                                                                                                                                                                                                                                      | - Lanelet map (driving lanelets)                                            | ![lane-follow](image/features-lane-follow.drawio.svg)                           |
+| Obstacle Avoidance                           | Plan path to avoid obstacles by steering operation. <br> <br> Reference implementation is in [Static Avoidance Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/), [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/). Enable flag in parameter: `launch path_optimizer true`                                                                                              | - objects information                                                       | ![obstacle-avoidance](image/features-avoidance.drawio.svg)                      | [Demonstration Video](https://youtu.be/A_V9yvfKZ4E) <br> [![Demonstration Video](https://img.youtube.com/vi/A_V9yvfKZ4E/0.jpg)](https://www.youtube.com/watch?v=A_V9yvfKZ4E)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Path Smoothing                               | Plan path to achieve smooth steering. <br> <br> Reference implementation is in [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/).                                                                                                                                                                                                                                                                                                                                                   | - Lanelet map (driving lanelet)                                             | ![path-smoothing](image/features-path-smoothing.drawio.svg)                     | [Demonstration Video](https://youtu.be/RhyAF26Ppzs) <br> [![Demonstration Video](https://img.youtube.com/vi/RhyAF26Ppzs/0.jpg)](https://www.youtube.com/watch?v=RhyAF26Ppzs)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Narrow Space Driving                         | Plan path to drive within the drivable area. Furthermore, when it is not possible to drive within the drivable area, stop the vehicle to avoid exiting the drivable area. <br> <br> Reference implementation is in [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/).                                                                                                                                                                                                               | - Lanelet map (high-precision lane boundaries)                              | ![narrow-space-driving](image/features-narrow-space-driving.drawio.svg)         | [Demonstration Video](https://youtu.be/URzcLO2E1vY) <br> [![Demonstration Video](https://img.youtube.com/vi/URzcLO2E1vY/0.jpg)](https://www.youtube.com/watch?v=URzcLO2E1vY)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Lane Change                                  | Plan path for lane change to reach the destination. <br> <br> Reference implementation is in [Lane Change](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/).                                                                                                                                                                                                                                                                                                | - Lanelet map (driving lanelets)                                            | ![lane-change](image/features-lane-change.drawio.svg)                           | [Demonstration Video](https://youtu.be/0jRDGQ84cD4) <br> [![Demonstration Video](https://img.youtube.com/vi/0jRDGQ84cD4/0.jpg)](https://www.youtube.com/watch?v=0jRDGQ84cD4)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Pull Over                                    | Plan path for pull over to park at the road shoulder. <br> <br> Reference implementation is in [Goal Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/).                                                                                                                                                                                                                                                                                            | - Lanelet map (shoulder lane)                                               | ![pull-over](image/features-pull-over.drawio.svg)                               | Demonstration Videos: <br> [Simple Pull Over](https://youtu.be/r3-kAmTb4hc) <br> [![Demonstration Video](https://img.youtube.com/vi/r3-kAmTb4hc/0.jpg)](https://www.youtube.com/watch?v=r3-kAmTb4hc) <br> [Arc Forward Pull Over](https://youtu.be/ornbzkWxRWU) <br> [![Demonstration Video](https://img.youtube.com/vi/ornbzkWxRWU/0.jpg)](https://www.youtube.com/watch?v=ornbzkWxRWU) <br> [Arc Backward Pull Over](https://youtu.be/if-0tG3AkLo) <br> [![Demonstration Video](https://img.youtube.com/vi/if-0tG3AkLo/0.jpg)](https://www.youtube.com/watch?v=if-0tG3AkLo) |
+| Pull Out                                     | Plan path for pull over to start from the road shoulder. <br> <br> Reference implementation is in [Start Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/).                                                                                                                                                                                                                                                                                       | - Lanelet map (shoulder lane)                                               | ![pull-out](image/features-pull-out.drawio.svg)                                 | Demonstration Video: <br> [Simple Pull Out](https://youtu.be/xOjnPqoHup4) <br> [![Demonstration Video](https://img.youtube.com/vi/xOjnPqoHup4/0.jpg)](https://www.youtube.com/watch?v=xOjnPqoHup4) <br> [Backward Pull Out](https://youtu.be/iGieijPcPcQ) <br> [![Demonstration Video](https://img.youtube.com/vi/iGieijPcPcQ/0.jpg)](https://www.youtube.com/watch?v=iGieijPcPcQ)                                                                                                                                                                                            |
+| Path Shift                                   | Plan path in lateral direction in response to external instructions. <br> <br> Reference implementation is in [Side Shift Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/).                                                                                                                                                                                                                                                                          | - None                                                                      | ![side-shift](image/features-side-shift.drawio.svg)                             |
+| Obstacle Stop                                | Plan velocity to stop for an obstacle on the path. <br> <br> Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/). `launch obstacle_stop_planner` and enable flag: `TODO`, `launch obstacle_cruise_planner` and enable flag: `TODO`                                                                             | - objects information                                                       | ![obstacle-stop](image/features-obstacle-stop.drawio.svg)                       | [Demonstration Video](https://youtu.be/d8IRW_xArcE) <br> [![Demonstration Video](https://img.youtube.com/vi/d8IRW_xArcE/0.jpg)](https://www.youtube.com/watch?v=d8IRW_xArcE)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Obstacle Deceleration                        | Plan velocity to decelerate for an obstacle located around the path. <br> <br> Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/).                                                                                                                                                                            | - objects information                                                       | ![obstacle-decel](image/features-obstacle-decel.drawio.svg)                     | [Demonstration Video](https://youtu.be/gvN1otgeaaw) <br> [![Demonstration Video](https://img.youtube.com/vi/gvN1otgeaaw/0.jpg)](https://www.youtube.com/watch?v=gvN1otgeaaw)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Adaptive Cruise Control                      | Plan velocity to follow the vehicle driving in front of the ego vehicle. <br> <br> Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/).                                                                                                                                                                        | - objects information                                                       | ![adaptive-cruise](image/features-adaptive-cruise.drawio.svg)                   |
+| Decelerate for cut-in vehicles               | Plan velocity to avoid a risk for cutting-in vehicle to ego lane. <br> <br> Reference implementation is in [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/).                                                                                                                                                                                                                                                                                                     | - objects information                                                       | ![cut-in](image/features-cut-in.drawio.svg)                                     |
+| Surround Check at starting                   | Plan velocity to prevent moving when an obstacle exists around the vehicle. <br> <br> Reference implementation is in [Surround Obstacle Checker](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_surround_obstacle_checker/). Enable flag in parameter: `use_surround_obstacle_check true` in [tier4_planning_component.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/2850d7f4e20b173fde2183d5323debbe0067a990/autoware_launch/launch/components/tier4_planning_component.launch.xml#L8) < | - objects information                                                       | ![surround-check](image/features-surround-check.drawio.svg)                     | [Demonstration Video](https://youtu.be/bbGgtXN3lC4) <br> [![Demonstration Video](https://img.youtube.com/vi/bbGgtXN3lC4/0.jpg)](https://www.youtube.com/watch?v=bbGgtXN3lC4)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Curve Deceleration                           | Plan velocity to decelerate the speed on a curve. <br> <br> Reference implementation is in [Motion Velocity Smoother](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_velocity_smoother/).                                                                                                                                                                                                                                                                                                                          | - None                                                                      | ![decel-on-curve](image/features-decel-on-curve.drawio.svg)                     |
+| Curve Deceleration for Obstacle              | Plan velocity to decelerate the speed on a curve for a risk of obstacle collision around the path. <br> <br> Reference implementation is in [Obstacle Velocity Limiter](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/).                                                                                                                                                                                                                 | - objects information <br> - Lanelet map (static obstacle)                  | ![decel-on-curve-obstacles](image/features-decel-on-curve-obstacles.drawio.svg) | [Demonstration Video](https://youtu.be/I-oFgG6kIAs) <br> [![Demonstration Video](https://img.youtube.com/vi/I-oFgG6kIAs/0.jpg)](https://www.youtube.com/watch?v=I-oFgG6kIAs)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Crosswalk                                    | Plan velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk. <br> <br> Reference implementation is in [Crosswalk Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/).                                                                                                                                                                                                                                              | - objects information <br> - Lanelet map (pedestrian crossing)              | ![crosswalk](image/features-crosswalk.drawio.svg)                               | [Demonstration Video](https://youtu.be/tUvthyIL2W8) <br> [![Demonstration Video](https://img.youtube.com/vi/tUvthyIL2W8/0.jpg)](https://www.youtube.com/watch?v=tUvthyIL2W8)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Intersection Oncoming Vehicle Check          | Plan velocity for turning right/left at intersection to avoid a risk with oncoming other vehicles. <br> <br> Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/).                                                                                                                                                                                                                                | - objects information <br> - Lanelet map (intersection lane and yield lane) | ![intersection](image/features-intersection.drawio.svg)                         | [Demonstration Video](https://youtu.be/SGD07Hqg4Hk) <br> [![Demonstration Video](https://img.youtube.com/vi/SGD07Hqg4Hk/0.jpg)](https://www.youtube.com/watch?v=SGD07Hqg4Hk)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Intersection Blind Spot Check                | Plan velocity for turning right/left at intersection to avoid a risk with other vehicles or motorcycles coming from behind blind spot. <br> <br> Reference implementation is in [Blind Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/).                                                                                                                                                                                                | - objects information <br> - Lanelet map (intersection lane)                | ![blind-spot](image/features-blind-spot.drawio.svg)                             | [Demonstration Video](https://youtu.be/oaTCJRafDGA) <br> [![Demonstration Video](https://img.youtube.com/vi/oaTCJRafDGA/0.jpg)](https://www.youtube.com/watch?v=oaTCJRafDGA)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Intersection Occlusion Check                 | Plan velocity for turning right/left at intersection to avoid a risk with the possibility of coming vehicles from occlusion area. <br> <br> Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/).                                                                                                                                                                                                 | - objects information <br> - Lanelet map (intersection lane)                | ![intersection-occlusion](image/features-intersection-occlusion.drawio.svg)     | [Demonstration Video](https://youtu.be/bAHXMB7kbFc) <br> [![Demonstration Video](https://img.youtube.com/vi/bAHXMB7kbFc/0.jpg)](https://www.youtube.com/watch?v=bAHXMB7kbFc)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Intersection Traffic Jam Detection           | Plan velocity for intersection not to enter the intersection when a vehicle is stopped ahead for a traffic jam. <br> <br> Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/).                                                                                                                                                                                                                   | - objects information <br> - Lanelet map (intersection lane)                | ![intersection-traffic-jam](image/features-intersection-traffic-jam.drawio.svg) | [Demonstration Video](https://youtu.be/negK4VbrC5o) <br> [![Demonstration Video](https://img.youtube.com/vi/negK4VbrC5o/0.jpg)](https://www.youtube.com/watch?v=negK4VbrC5o)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Traffic Light                                | Plan velocity for intersection according to a traffic light signal. <br> <br> Reference implementation is in [Traffic Light Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/).                                                                                                                                                                                                                                                             | - Traffic light color information                                           | ![traffic-light](image/features-traffic-light.drawio.svg)                       | [Demonstration Video](https://youtu.be/lGA53KljQrM) <br> [![Demonstration Video](https://img.youtube.com/vi/lGA53KljQrM/0.jpg)](https://www.youtube.com/watch?v=lGA53KljQrM)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Run-out Check                                | Plan velocity to decelerate for the possibility of nearby objects running out into the path. <br> <br> Reference implementation is in [Run Out Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/).                                                                                                                                                                                                                                                | - objects information                                                       | ![run-out](image/features-run-out.drawio.svg)                                   | [Demonstration Video](https://youtu.be/9IDggldT2t0) <br> [![Demonstration Video](https://img.youtube.com/vi/9IDggldT2t0/0.jpg)](https://www.youtube.com/watch?v=9IDggldT2t0)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Stop Line                                    | Plan velocity to stop at a stop line. <br> <br> Reference implementation is in [Stop Line Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/).                                                                                                                                                                                                                                                                                                   | - Lanelet map (stop line)                                                   | ![stop-line](image/features-stop-line.drawio.svg)                               | [Demonstration Video](https://youtu.be/eej9jYt-GSE) <br> [![Demonstration Video](https://img.youtube.com/vi/eej9jYt-GSE/0.jpg)](https://www.youtube.com/watch?v=eej9jYt-GSE)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Occlusion Spot Check                         | Plan velocity to decelerate for objects running out from occlusion area, for example, from behind a large vehicle. <br> <br> Reference implementation is in [Occlusion Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/).                                                                                                                                                                                                            | - objects information <br> - Lanelet map (private/public lane)              | ![occlusion-spot](image/features-occlusion-spot.drawio.svg)                     | [Demonstration Video](https://youtu.be/3qs8Ivjh1fs) <br> [![Demonstration Video](https://img.youtube.com/vi/3qs8Ivjh1fs/0.jpg)](https://www.youtube.com/watch?v=3qs8Ivjh1fs)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| No Stop Area                                 | Plan velocity not to stop in areas where stopping is prohibited, such as in front of the fire station entrance. <br> <br> Reference implementation is in [No Stopping Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/).                                                                                                                                                                                                           | - Lanelet map (no stopping area)                                            | ![no-stopping-area](image/features-no-stopping-area.drawio.svg)                 |
+| Merge from Private Area to Public Road       | Plan velocity for entering the public road from a private driveway to avoid a risk of collision with pedestrians or other vehicles. <br> <br> Reference implementation is in [Merge from Private Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/).                                                                                                                                                                                    | - objects information <br> - Lanelet map (private/public lane)              | WIP                                                                             |
+| Speed Bump                                   | Plan velocity to decelerate for speed bumps. <br> <br> Reference implementation is in [Speed Bump Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/).                                                                                                                                                                                                                                                                                          | - Lanelet map (speed bump)                                                  | ![speed-bump](image/features-speed-bump.drawio.svg)                             | [Demonstration Video](https://youtu.be/FpX3q3YaaCw) <br> [![Demonstration Video](https://img.youtube.com/vi/FpX3q3YaaCw/0.jpg)](https://www.youtube.com/watch?v=FpX3q3YaaCw)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Detection Area                               | Plan velocity to stop at the corresponding stop when an object exist in the designated detection area. <br> <br> Reference implementation is in [Detection Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/).                                                                                                                                                                                                                        | - Lanelet map (detection area)                                              | ![detection-area](image/features-detection-area.drawio.svg)                     | [Demonstration Video](https://youtu.be/YzXF4U69lJs) <br> [![Demonstration Video](https://img.youtube.com/vi/YzXF4U69lJs/0.jpg)](https://www.youtube.com/watch?v=YzXF4U69lJs)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| No Drivable Lane                             | Plan velocity to stop before exiting the area designated by ODD (Operational Design Domain) or stop the vehicle if autonomous mode started in out of ODD lane. <br> <br> Reference implementation is in [No Drivable Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/).                                                                                                                                                            | - Lanelet map (no drivable lane)                                            | ![no-drivable-lane](image/features-no-drivable-lane.drawio.svg)                 |
+| Collision Detection when deviating from lane | Plan velocity to avoid conflict with other vehicles driving in the another lane when the ego vehicle is deviating from own lane. <br> <br> Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/).                                                                                                                                                                                                        | - objects information <br> - Lanelet map (driving lane)                     | WIP                                                                             |
+| Parking                                      | Plan path and velocity for given goal in parking area. <br> <br> Reference implementation is in [Free Space Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_freespace_planner/).                                                                                                                                                                                                                                                                                                                           | - objects information <br> - Lanelet map (parking area)                     | ![parking](image/features-parking.drawio.svg)                                   | [Demonstration Video](https://youtu.be/rAIYmwpNWfA) <br> [![Demonstration Video](https://img.youtube.com/vi/rAIYmwpNWfA/0.jpg)](https://www.youtube.com/watch?v=rAIYmwpNWfA)                                                                                                                                                                                                                                                                                                                                                                                                  |
+| Autonomous Emergency Braking (AEB)           | Perform an emergency stop if a collision with an object ahead is anticipated. It is noted that this function is expected as a final safety layer, and this should work even in the event of failures in the Localization or Perception system. <br> <br> Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/).                                                                                          | - Primitive objects                                                         | ![aeb](image/features-aeb.drawio.svg)                                           |
+| Minimum Risk Maneuver (MRM)                  | Provide appropriate MRM (Minimum Risk Maneuver) instructions when a hazardous event occurs. For example, when a sensor trouble found, send an instruction for emergency braking, moderate stop, or pulling over to the shoulder, depending on the severity of the situation. <br> <br> Reference implementation is in TODO                                                                                                                                                                                                                        | - TODO                                                                      | WIP                                                                             |
+| Trajectory Validation                        | Check the planned trajectory is safe. If it is unsafe, take appropriate action, such as modify the trajectory, stop sending the trajectory or report to the autonomous driving system. <br> <br> Reference implementation is in [Planning Validator](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_planning_validator/).                                                                                                                                                                                          | - None                                                                      | ![trajectory-validation](image/features-trajectory-validation.drawio.svg)       |
+| Running Lane Map Generation                  | Generate lane map from localization data recorded in manual driving. <br> <br> Reference implementation is in WIP                                                                                                                                                                                                                                                                                                                                                                                                                                 | - None                                                                      | WIP                                                                             |
+| Running Lane Optimization                    | Optimize the centerline (reference path) of the map to make it smooth considering the vehicle kinematics. <br> <br> Reference implementation is in [Static Centerline Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_static_centerline_generator/).                                                                                                                                                                                                                                                     | - Lanelet map (driving lanes)                                               | WIP                                                                             |
 
 <!-- ![supported-functions](image/planning-functions.drawio.svg) -->
 
@@ -205,36 +205,36 @@ _Note that some implementation does not adhere to the high-level architecture de
 
 For more details, please refer to the design documents in each package.
 
-- [_mission_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/mission_planner/): calculate route from start to goal based on the map information.
-- [_behavior_path_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/): calculates path and drivable area based on the traffic rules.
-  - [_lane_following_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/#lane-following)
-  - [_lane_change_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/#lane-change)
-  - [_avoidance_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/#avoidance)
-  - [_pull_over_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/#pull-over)
-  - [_pull_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/#pull-out)
-  - _side_shift_
-- [_behavior_velocity_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/): calculates max speed based on the traffic rules.
-  - [_detection_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/docs/detection-area-design/)
-  - [_blind_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_blind_spot_module/docs/blind-spot-design/)
-  - [_cross_walk_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/docs/crosswalk-design/)
-  - [_stop_line_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_stop_line_module/docs/stop-line-design/)
-  - [_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/docs/traffic-light-design/)
-  - [_intersection_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/docs/intersection-design/)
-  - [_no_stopping_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_stopping_area_module/docs/no-stopping-area-design/)
-  - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_virtual_traffic_light_module/docs/virtual-traffic-light-design/)
-  - [_occlusion_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_occlusion_spot_module/docs/occlusion-spot-design/)
-  - [_run_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_run_out_module/docs/run-out-design/)
-- [_obstacle_avoidance_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/): calculate path shape under obstacle and drivable area constraints
-- [_surround_obstacle_checker_](https://autowarefoundation.github.io/autoware.universe/main/planning/surround_obstacle_checker/): keeps the vehicle being stopped when there are obstacles around the ego-vehicle. It works only when the vehicle is stopped.
+- [_mission_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_mission_planner/): calculate route from start to goal based on the map information.
+- [_behavior_path_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/): calculates path and drivable area based on the traffic rules.
+  - [_lane_following_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner#lane-following)
+  - [_lane_change_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/)
+  - [_static_obstacle_avoidance_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/)
+  - [_pull_over_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/)
+  - [_pull_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/)
+  - [_side_shift_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/)
+- [_behavior_velocity_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/): calculates max speed based on the traffic rules.
+  - [_detection_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/)
+  - [_blind_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/)
+  - [_cross_walk_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/)
+  - [_stop_line_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/)
+  - [_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/)
+  - [_intersection_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/)
+  - [_no_stopping_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/)
+  - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/)
+  - [_occlusion_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/)
+  - [_run_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/)
+- [_obstacle_avoidance_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/): calculate path shape under obstacle and drivable area constraints
+- [_surround_obstacle_checker_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_surround_obstacle_checker/): keeps the vehicle being stopped when there are obstacles around the ego-vehicle. It works only when the vehicle is stopped.
 - [_obstacle_stop_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/): When there are obstacles on or near the trajectory, it calculates the maximum velocity of the trajectory points depending on the situation: stopping, slowing down, or adaptive cruise (following the car).
   - [_stop_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#obstacle-stop-planner_1)
   - [_slow_down_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#slow-down-planner)
   - [_adaptive_cruise_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#adaptive-cruise-controller)
-- [_costmap_generator_](https://autowarefoundation.github.io/autoware.universe/main/planning/costmap_generator/): generates a costmap for path generation from dynamic objects and lane information.
-- [_freespace_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/freespace_planner/): calculates trajectory considering the feasibility (e.g. curvature) for the freespace scene. Algorithms are described [here](https://autowarefoundation.github.io/autoware.universe/main/planning/freespace_planning_algorithms/).
+- [_costmap_generator_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_costmap_generator): generates a costmap for path generation from dynamic objects and lane information.
+- [_freespace_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_freespace_planner/): calculates trajectory considering the feasibility (e.g. curvature) for the freespace scene. Algorithms are described [here](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_freespace_planning_algorithms/).
 - _scenario_selector_ : chooses a trajectory according to the current scenario.
-- [_external_velocity_limit_selector_](https://autowarefoundation.github.io/autoware.universe/main/planning/external_velocity_limit_selector/): takes an appropriate velocity limit from multiple candidates.
-- [_motion_velocity_smoother_](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/): calculates final velocity considering velocity, acceleration, and jerk constraints.
+- [_external_velocity_limit_selector_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_external_velocity_limit_selector/): takes an appropriate velocity limit from multiple candidates.
+- [_motion_velocity_smoother_](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/): calculates final velocity considering velocity, acceleration, and jerk constraints.
 
 ### Important information in the current implementation
 
@@ -256,9 +256,9 @@ While it is possible to add module-level functionalities in the current implemen
 
 ![reference-implementation-add-new-modules](image/reference-implementation-add-new-modules.drawio.svg)
 
-#### Add new modules in behavior_velocity_planner or behavior_path_plnner
+#### Add new modules in behavior_velocity_planner or behavior_path_planner
 
-ROS nodes such as [behavior_path_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/) and [behavior_velocity_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/) have a module interface available through plugins. By adding modules in accordance with the module interfaces defined in these ROS nodes, dynamic loading/unloading of modules becomes possible. For specific methods of adding modules, please refer to the documentation of each package.
+ROS nodes such as [behavior_path_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/) and [behavior_velocity_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/) have a module interface available through plugins. By adding modules in accordance with the module interfaces defined in these ROS nodes, dynamic loading/unloading of modules becomes possible. For specific methods of adding modules, please refer to the documentation of each package.
 
 #### Add a new ros node in the planning component
 

From f587abd2595166a84c60260eb652ac20ca126434 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Tue, 2 Jul 2024 21:05:28 +0900
Subject: [PATCH 19/20] change the folder and file structure

Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .../design/autoware-architecture/map/index.md |  2 +-
 .../category_area.md                          | 20 ++---
 .../category_crosswalk.md                     |  8 +-
 .../category_intersection.md                  | 62 ++++++-------
 .../category_lane.md                          | 90 +++++++++----------
 .../category_others.md                        | 12 +--
 .../category_stop_line.md                     | 10 +--
 .../category_traffic_light.md                 |  8 +-
 .../index.md}                                 |  0
 9 files changed, 106 insertions(+), 106 deletions(-)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_area.md (94%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_crosswalk.md (97%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_intersection.md (93%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_lane.md (90%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_others.md (93%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_stop_line.md (89%)
 rename docs/design/autoware-architecture/map/map-requirements/{ => vector-map-requirements-overview}/category_traffic_light.md (96%)
 rename docs/design/autoware-architecture/map/map-requirements/{overview.md => vector-map-requirements-overview/index.md} (100%)

diff --git a/docs/design/autoware-architecture/map/index.md b/docs/design/autoware-architecture/map/index.md
index 5e337af5612..f75dd804b21 100644
--- a/docs/design/autoware-architecture/map/index.md
+++ b/docs/design/autoware-architecture/map/index.md
@@ -87,7 +87,7 @@ The vector cloud map must be supplied as a file with the following requirements:
 - Each lanelet in the map must contain traffic rule information including its speed limit, right of way, traffic direction, associated traffic lights, stop lines, and traffic signs.
 - It must cover the entire operational area of the vehicle.
 
-For detailed specifications on Vector Map creation, please refer to [Vector Map Creation Requirement Specification document](./map-requirements/overview.md).
+For detailed specifications on Vector Map creation, please refer to [Vector Map Creation Requirement Specification document](./map-requirements/vector-map-requirements-overview/index.md).
 
 ### Projection Information
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_area.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md
similarity index 94%
rename from docs/design/autoware-architecture/map/map-requirements/category_area.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md
index fdb1986f606..6e5be9c1e0e 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_area.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md
@@ -19,13 +19,13 @@ In order to avoid obstacles, Autoware regards the Buffer Zone as a drivable area
 
 - Vehicles are not allowed to pass through safety areas. It's important to differentiate between Buffer Zones and safety areas. - Do not create a Polygon for the Buffer Zone in areas where static objects like poles are present and vehicles cannot pass, even if a Buffer Zone is painted on the surface. Buffer Zones should be established only in areas where vehicle passage is feasible.
 
-![svg](./assets/vm-06-01_1.svg)
+![svg](../assets/vm-06-01_1.svg)
 
-![svg](./assets/vm-06-01_2.svg)
+![svg](../assets/vm-06-01_2.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-01_3.svg)
+![svg](../assets/vm-06-01_3.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -52,11 +52,11 @@ Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web
 
 Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there.
 
-![svg](./assets/vm-06-02_1.svg)
+![svg](../assets/vm-06-02_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-02_2.svg)
+![svg](../assets/vm-06-02_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -82,11 +82,11 @@ Refer to [Web.Auto Documentation - Creation of No Parking Area](https://docs.web
 
 Since _no_parking_area_ does not allow for setting a goal, Autoware cannot park the vehicle there.
 
-![svg](./assets/vm-06-03_1.svg)
+![svg](../assets/vm-06-03_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-03_2.svg)
+![svg](../assets/vm-06-03_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -112,11 +112,11 @@ Refer to [Web.Auto Documentation - Creation of No Stopping Area](https://docs.we
 
 The vehicle does not make temporary stops in _no_stopping_area_. Since goals cannot be set in _no_stopping_area_, the vehicle cannot park there.
 
-![svg](./assets/vm-06-04_1.svg)
+![svg](../assets/vm-06-04_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-04_2.svg)
+![svg](../assets/vm-06-04_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -140,7 +140,7 @@ Refer to [Web.Auto Documentation - Creation of Detection Area](https://docs.web.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-06-05_1.svg)
+![svg](../assets/vm-06-05_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md
similarity index 97%
rename from docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md
index 196e4c881ff..20c956d6f8f 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_crosswalk.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md
@@ -31,7 +31,7 @@ When pedestrians or cyclists are on the crosswalk, Autoware will come to a stop
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-01_1.svg)
+![svg](../assets/vm-05-01_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -61,7 +61,7 @@ Refer to [vm-04-02](./category_traffic_light.md#vm-04-02-traffic-light-position-
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-02_1.svg)
+![svg](../assets/vm-05-02_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -84,7 +84,7 @@ To ensure a constant deceleration to a safe speed when traversing a crosswalk, a
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-03_2.svg)
+![svg](../assets/vm-05-03_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -108,7 +108,7 @@ However, if there is a guardrail, wall, or fence between the road and sidewalk,
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-04_1.svg)
+![svg](../assets/vm-05-04_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md
similarity index 93%
rename from docs/design/autoware-architecture/map/map-requirements/category_intersection.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md
index 960b19e9a5a..31ace0cfec7 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_intersection.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md
@@ -59,11 +59,11 @@ Autoware will start flashing the turn signals (blinkers) 30 meters as default be
 - key: _turn_signal_distance_
 - value: numerical value (m)
 
-![svg](./assets/vm-03-02_1.svg)
+![svg](../assets/vm-03-02_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-02_2.svg)
+![svg](../assets/vm-03-02_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -85,15 +85,15 @@ Lanelets in the intersection should have a consistent width. Additionally, draw
 
 The shape of this curve must be determined by the Vector Map creator.
 
-![svg](./assets/vm-03-03_1.svg)
+![svg](../assets/vm-03-03_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-03_2.svg)
+![svg](../assets/vm-03-03_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-03_3.svg)
+![svg](../assets/vm-03-03_3.svg)
 
 ---
 
@@ -109,15 +109,15 @@ Refer also to the creation scope [vm-07-01](./category_others.md#vm-07-01-vector
 
 Autoware uses lanelets to predict the movements of other vehicles and plan the vehicle's velocity accordingly. Therefore, it is necessary to create all lanelets in the intersection.
 
-![svg](./assets/vm-03-04_1.svg)
+![svg](../assets/vm-03-04_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-04_2.svg)
+![svg](../assets/vm-03-04_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-04_3.svg)
+![svg](../assets/vm-03-04_3.svg)
 
 #### Related Autoware module
 
@@ -131,15 +131,15 @@ Autoware uses lanelets to predict the movements of other vehicles and plan the v
 
 Create the Lanelets in the intersection as a single object without dividing them.
 
-![svg](./assets/vm-03-05_1.svg)
+![svg](../assets/vm-03-05_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-05_2.svg)
+![svg](../assets/vm-03-05_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-03_3.svg)
+![svg](../assets/vm-03-03_3.svg)
 
 #### Related Autoware module
 
@@ -155,11 +155,11 @@ If there are guide lines in the intersection, draw the Lanelet following them.
 
 In cases where the Lanelets branches off, begin the branching at the end of the guide line. However, it is not necessary to share points or linestrings between Lanelets.
 
-![svg](./assets/vm-03-06_1.svg)
+![svg](../assets/vm-03-06_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-06_2.svg)
+![svg](../assets/vm-03-06_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -177,15 +177,15 @@ None in particular.
 
 When connecting multiple lanes with Lanelets at an intersection, those Lanelets should be made adjacent to each other without crossing.
 
-![svg](./assets/vm-03-07_1.svg)
+![svg](../assets/vm-03-07_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-07_2.svg)
+![svg](../assets/vm-03-07_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-07_3.svg)
+![svg](../assets/vm-03-07_3.svg)
 
 #### Related Autoware module
 
@@ -204,7 +204,7 @@ Encircle the intersection's drivable area with a Polygon (_type:intersection_are
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-08_1.svg)
+![svg](../assets/vm-03-08_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -233,7 +233,7 @@ Determine the start and end positions of lanelets in the intersection (hencefort
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-09_1.svg)
+![svg](../assets/vm-03-09_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -257,17 +257,17 @@ Set the regulatory element 'right_of_way' for Lanelets that meet all of the foll
 
 Set to _yield_ those lanelets in the intersection that intersect the vehicle's lanelet, and set to _yield_ those lanelets that do not share the same signal change timing with the vehicle. Also, if the vehicle is turning left, set the opposing vehicle's right-turn lane to _yield_. There is no need to set _yield_ for lanelets where the vehicle goes straight (_turn_direction:straight_).
 
-![svg](./assets/vm-03-10_1.svg)
+![svg](../assets/vm-03-10_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
 ##### The vehicle turns left <!-- omit in toc -->
 
-![svg](./assets/vm-03-10_2.svg)
+![svg](../assets/vm-03-10_2.svg)
 
 ##### The vehicle turns right <!-- omit in toc -->
 
-![svg](./assets/vm-03-10_3.svg)
+![svg](../assets/vm-03-10_3.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -289,19 +289,19 @@ Set the regulatory element 'right_of_way' for Lanelets that meet all of the foll
 - Lanelets that intersect with the vehicle's lanelet.
 - There are **no** traffic lights at the intersection.
 
-![svg](./assets/vm-03-11_1.svg)
+![svg](../assets/vm-03-11_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
 ##### ① The vehicle on the priority lane <!-- omit in toc -->
 
-![svg](./assets/vm-03-11_2.svg)
+![svg](../assets/vm-03-11_2.svg)
 
 ##### ② The vehicle on the non-priority lane <!-- omit in toc -->
 
 A regulatory element is not necessary. However, when the vehicle goes straight, it has relative priority over other vehicles turning right from the opposing non-priority road. Therefore, settings for _right_of_way_ and _yield_ are required in this case.
 
-![svg](./assets/vm-03-11_3.svg)
+![svg](../assets/vm-03-11_3.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -350,11 +350,11 @@ When a road, which enters or exits private property, intersects with a sidewalk,
 - The vehicle stops temporarily before entering the sidewalk.
 - The vehicle comes to a stop before merging onto the public road.
 
-![svg](./assets/vm-03-13_1.svg)
+![svg](../assets/vm-03-13_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-13_2.svg)
+![svg](../assets/vm-03-13_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -378,11 +378,11 @@ If there is a stop line ahead of the guide lines in the intersection, ensure the
 
 Refer to [Web.Auto Documentation - Creation of Regulatory Element](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-of-regulatory-element) for the method of creation in Vector Map Builder.
 
-![svg](./assets/vm-03-14_1.svg)
+![svg](../assets/vm-03-14_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-14_2.svg)
+![svg](../assets/vm-03-14_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -406,13 +406,13 @@ In addition, set _lane_change = no_ as OptionalTags.
 
 The blind spot (entanglement check) feature verifies the lanelet(subtype:road) and decides if the vehicle can proceed.
 
-![png](./assets/vm-03-15_1.png)
+![png](../assets/vm-03-15_1.png)
 
-![svg](./assets/vm-03-15_2.svg)
+![svg](../assets/vm-03-15_2.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-03-15_3.svg)
+![svg](../assets/vm-03-15_3.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md
similarity index 90%
rename from docs/design/autoware-architecture/map/map-requirements/category_lane.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md
index d94d39f9ddd..c5e1177a5f2 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_lane.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md
@@ -19,7 +19,7 @@ The road's Lanelets must comply with the following requirements.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![lanelet](./assets/vm-01-01.svg)
+![lanelet](../assets/vm-01-01.svg)
 
 ---
 
@@ -43,7 +43,7 @@ Set the Linestring _subtype_ according to the type of line.
 - White solid lines : indicate that changing lanes and overtaking are allowed.
 - Yellow solid lines : mean no lane changes are allowed.
 
-![lines](./assets/vm-01-02.svg)
+![lines](../assets/vm-01-02.svg)
 
 #### Related Autoware module
 
@@ -68,15 +68,15 @@ If the Lanelet adjacent to the one the vehicle is driving on shares a Linestring
 - The vehicle turns a curve while slightly extending out of the lane.
 - Lane changes
 
-![lines](./assets/vm-01-03_1.svg)
+![lines](../assets/vm-01-03_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![lines](./assets/vm-01-03_2.svg)
+![lines](../assets/vm-01-03_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![lines](./assets/vm-01-03_3.svg)
+![lines](../assets/vm-01-03_3.svg)
 
 #### Related Autoware module
 
@@ -97,15 +97,15 @@ When the vehicle's lanelet and the opposing lanelet physically touch, the road c
 
 Obstacle avoidance across the opposing lane is possible.
 
-![svg](./assets/vm-01-04_1.svg)
+![svg](../assets/vm-01-04_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-04_2.svg)
+![svg](../assets/vm-01-04_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-04_3.svg)
+![svg](../assets/vm-01-04_3.svg)
 
 ---
 
@@ -119,15 +119,15 @@ The geometry of the road lanelet needs to comply with the following:
 - The lines of a Lanelet, which join with lanelets ahead and behind it, must form straight lines.
 - Ensure the outline is smooth and not jagged or bumpy, except for L-shaped cranks.
 
-![svg](./assets/vm-01-05_1.svg)
+![svg](../assets/vm-01-05_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-05_2.svg)
+![svg](../assets/vm-01-05_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-05_3.svg)
+![svg](../assets/vm-01-05_3.svg)
 
 ---
 
@@ -137,15 +137,15 @@ The geometry of the road lanelet needs to comply with the following:
 
 Ensure the road's center line Linestring is located in the exact middle of the road markings.
 
-![svg](./assets/vm-01-06_1.svg)
+![svg](../assets/vm-01-06_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-06_2.svg)
+![svg](../assets/vm-01-06_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-06_3.svg)
+![svg](../assets/vm-01-06_3.svg)
 
 ---
 
@@ -155,11 +155,11 @@ Ensure the road's center line Linestring is located in the exact middle of the r
 
 Place the Linestring at the center of the markings when lines exist outside the road.
 
-![svg](./assets/vm-01-07_1.svg)
+![svg](../assets/vm-01-07_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-07_2.svg)
+![svg](../assets/vm-01-07_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -173,7 +173,7 @@ None in particular.
 
 If there are no lines on the outer side within the road, position the Linestring 0.5 m from the road's edge.
 
-![svg](./assets/vm-01-08_1.svg)
+![svg](../assets/vm-01-08_1.svg)
 
 ##### Caution
 
@@ -181,7 +181,7 @@ The width depends on the laws of your country.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-08_2.svg)
+![svg](../assets/vm-01-08_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -203,11 +203,11 @@ Note that the following is achieved through Autoware's settings and behavior.
 - Vehicle's maximum velocity
 - Speed adjustment at places requiring deceleration, like curves and downhill areas.
 
-![svg](./assets/vm-01-09_1.svg)
+![svg](../assets/vm-01-09_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-09_2.svg)
+![svg](../assets/vm-01-09_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -223,7 +223,7 @@ Autoware is designed to move through the midpoint calculated from a Lanelet's le
 
 Create a centerline for the Lanelet when there is a need to shift the driving position to the left or right due to certain circumstances, ensuring the centerline has a smooth shape for drivability.
 
-![svg](./assets/vm-01-10_1.svg)
+![svg](../assets/vm-01-10_1.svg)
 
 ##### Caution
 
@@ -231,11 +231,11 @@ Create a centerline for the Lanelet when there is a need to shift the driving po
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-10_2.svg)
+![svg](../assets/vm-01-10_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-10_3.svg)
+![svg](../assets/vm-01-10_3.svg)
 
 ---
 
@@ -245,15 +245,15 @@ Create a centerline for the Lanelet when there is a need to shift the driving po
 
 When center lines have been added to several Lanelets, they should be connected.
 
-![svg](./assets/vm-01-11_1.svg)
+![svg](../assets/vm-01-11_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-11_2.svg)
+![svg](../assets/vm-01-11_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-11_3.svg)
+![svg](../assets/vm-01-11_3.svg)
 
 ---
 
@@ -263,15 +263,15 @@ When center lines have been added to several Lanelets, they should be connected.
 
 If a Lanelet with an added centerline is connected to Lanelets without one, ensure the start and end points of the added centerline are positioned at the Lanelet's center. Ensure the centerline has a smooth shape for drivability.
 
-![svg](./assets/vm-01-12_1.svg)
+![svg](../assets/vm-01-12_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-12_2.svg)
+![svg](../assets/vm-01-12_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-12_3.svg)
+![svg](../assets/vm-01-12_3.svg)
 
 ---
 
@@ -281,11 +281,11 @@ If a Lanelet with an added centerline is connected to Lanelets without one, ensu
 
 When a road lacks a central line but is wide enough for one's vehicle and oncoming vehicles to pass each other, Lanelets should be positioned next to each other at the center of the road.
 
-![svg](./assets/vm-01-13_1.svg)
+![svg](../assets/vm-01-13_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-13_2.svg)
+![svg](../assets/vm-01-13_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -312,15 +312,15 @@ Requirement for Vector Map creation:
 - The application of this case depends on local operational policies and vehicle specifications, and should be determined in discussion with the map requestor.
 - The current Autoware does not possess the capability to pass oncoming vehicles in shared lanes.
 
-![svg](./assets/vm-01-14_1.svg)
+![svg](../assets/vm-01-14_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-14_2.svg)
+![svg](../assets/vm-01-14_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-14_3.svg)
+![svg](../assets/vm-01-14_3.svg)
 
 ---
 
@@ -348,17 +348,17 @@ A road Lanelet must be next to the shoulder Lanelet.
 
 _tag:lane_change=yes_ is not required on the Linestring marking the boundary of the shoulder.
 
-![svg](./assets/vm-01-15_1.svg)
+![svg](../assets/vm-01-15_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-15_2.svg)
+![svg](../assets/vm-01-15_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
 Do not create a road shoulder Lanelet for roads without a shoulder.
 
-![svg](./assets/vm-01-15_3.svg)
+![svg](../assets/vm-01-15_3.svg)
 
 #### Related Autoware module
 
@@ -374,11 +374,11 @@ Do not create a road shoulder Lanelet for roads without a shoulder.
 
 The Lanelets for the road shoulder and the adjacent road should have a common Linestring.
 
-![svg](./assets/vm-01-15_1.svg)
+![svg](../assets/vm-01-15_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-16_2.svg)
+![svg](../assets/vm-01-16_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -400,11 +400,11 @@ Place a Lanelet (_subtype:pedestrian_lane_) on the side strip. However, it is no
 
 The side strip's Lanelet must have the Linestring (_subtype:road_border_) outside.
 
-![svg](./assets/vm-01-17_1.svg)
+![svg](../assets/vm-01-17_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-17_2.svg)
+![svg](../assets/vm-01-17_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -418,11 +418,11 @@ None in particular.
 
 The Lanelet for the side strip and the adjacent road Lanelet should have a common Linestring.
 
-![svg](./assets/vm-01-17_1.svg)
+![svg](../assets/vm-01-17_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-18_2.svg)
+![svg](../assets/vm-01-18_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -438,11 +438,11 @@ Place a sidewalk Lanelet (_subtype:walkway_) where necessary. However, install o
 
 The length of the lanelet (_subtype:walkway_) should be the area intersecting with your lane and additional 3 meters before and after.
 
-![svg](./assets/vm-01-19_1.svg)
+![svg](../assets/vm-01-19_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-01-19_2.svg)
+![svg](../assets/vm-01-19_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_others.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md
similarity index 93%
rename from docs/design/autoware-architecture/map/map-requirements/category_others.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md
index ee70acf4a79..c51a1f465cc 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_others.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md
@@ -25,11 +25,11 @@ Check the range of sensors on your vehicle.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-07-01_1.svg)
+![svg](../assets/vm-07-01_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-07-01_2.svg)
+![svg](../assets/vm-07-01_2.svg)
 
 ---
 
@@ -47,7 +47,7 @@ Setting up a linestring of the following type instructs Autoware to disregard th
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-05-04_1.svg)
+![svg](../assets/vm-05-04_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -69,11 +69,11 @@ Follow the same position guidelines for Linestrings of fences (_type:fence_).
 
 #### Preferred vector map <!-- omit in toc -->
 
-![png](./assets/vm-07-03_1.png)
+![png](../assets/vm-07-03_1.png)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![png](./assets/vm-07-03_2.png)
+![png](../assets/vm-07-03_2.png)
 
 #### Related Autoware module
 
@@ -87,7 +87,7 @@ Follow the same position guidelines for Linestrings of fences (_type:fence_).
 
 The height of a Point should be based on the ellipsoidal height (WGS84), in meters.
 
-![svg](./assets/vm-07-04_height_en.svg)
+![svg](../assets/vm-07-04_height_en.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md
similarity index 89%
rename from docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md
index d5014c2e970..d58ecb11c99 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_stop_line.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md
@@ -10,15 +10,15 @@ Place the Linestring (_type:stop_line_) for the stop line on the edge on the sid
 
 Refer to [Web.Auto Documentation - Creation and edit of a stop point (StopPoint)](https://docs.web.auto/en/user-manuals/vector-map-builder/how-to-use/edit-maps#creation-and-edit-of-a-stop-point-stoppoint) for the method of creation in Vector Map Builder.
 
-![svg](./assets/vm-02-01_1.svg)
+![svg](../assets/vm-02-01_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-02-01_2.svg)
+![svg](../assets/vm-02-01_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
-![svg](./assets/vm-02-01_3.svg)
+![svg](../assets/vm-02-01_3.svg)
 
 ---
 
@@ -30,11 +30,11 @@ Where there is no stop line on the road but a stop sign exists, place a Linestri
 
 Create a reference from a Lanelet (_subtype:road_) to a Regulatory Element (_subtype:traffic_sign_), and have this Regulatory Element refer to a Linestring (_type:stop_line_) and a Linestring (_type:traffic_sign, subtype:stop_sign)_.
 
-![svg](./assets/vm-02-02_1.svg)
+![svg](../assets/vm-02-02_1.svg)
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-02-02_2.svg)
+![svg](../assets/vm-02-02_2.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md
similarity index 96%
rename from docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md
index 5ede232e917..a9e981be05d 100644
--- a/docs/design/autoware-architecture/map/map-requirements/category_traffic_light.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md
@@ -21,11 +21,11 @@ Refer to vm-04-02 and vm-04-03 for the specifications of traffic light and traff
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-04-01_1.svg)
+![svg](../assets/vm-04-01_1.svg)
 
 If there is a crosswalk at the intersection, arrange for the road's Lanelet and the crosswalk's Lanelet to intersect and overlap.
 
-![svg](./assets/vm-04-01_2.svg)
+![svg](../assets/vm-04-01_2.svg)
 
 #### Related Autoware module
 
@@ -52,7 +52,7 @@ Autoware currently ignores subtype _red_yellow_green_.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-04-02_1.svg)
+![svg](../assets/vm-04-02_1.svg)
 
 #### Incorrect vector map <!-- omit in toc -->
 
@@ -79,7 +79,7 @@ Use the Points of the lights when creating a Linestring.
 
 #### Preferred vector map <!-- omit in toc -->
 
-![svg](./assets/vm-04-03_1.svg)
+![svg](../assets/vm-04-03_1.svg)
 
 The order of the lights' Points can be 1→2→3→4 or 4→3→2→1, either is acceptable.
 
diff --git a/docs/design/autoware-architecture/map/map-requirements/overview.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md
similarity index 100%
rename from docs/design/autoware-architecture/map/map-requirements/overview.md
rename to docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md

From 06827a532331fc5945cae23066e98115d4060351 Mon Sep 17 00:00:00 2001
From: "Nishimoto, Shinya" <shinya.nishimoto@tier4.jp>
Date: Wed, 3 Jul 2024 16:34:30 +0900
Subject: [PATCH 20/20] improve a link to map creation

Signed-off-by: Nishimoto, Shinya <shinya.nishimoto@tier4.jp>
---
 .../vector-map-requirements-overview/index.md                 | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md
index 7d5064af659..fc2e01a7ffc 100644
--- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md
+++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/index.md
@@ -10,9 +10,7 @@ Vector Map uses [lanelet2_extension](https://github.com/autowarefoundation/autow
 
 The primitives (basic components) used in Vector Map are explained in [Web.Auto Docs - What is Lanelet2](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction#what-is-lanelet2). The following **Vector Map creation requirement specifications** are written on the premise of these knowledge.
 
-This specification is a set of requirements for the creation of Vector Map(s) to ensure that Autoware drives safely and autonomously as intended by the user. It does not cover how to operate specific map creation tools.
-
-- [Vector Map Builder - how to use](https://docs.web.auto/user-manuals/vector-map-builder/how-to-use/edit-maps)
+This specification is a set of requirements for the creation of Vector Map(s) to ensure that Autoware drives safely and autonomously as intended by the user. To Create a Lanelet2 format .osm file, please refer to [Creating a vector map](https://autowarefoundation.github.io/autoware-documentation/latest/how-to-guides/integrating-autoware/creating-maps/#creating-a-vector-map).
 
 ## Handling of the Requirement Specification