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autowarefoundation · Apr 18, 2023 · 7f398a8 · 7f398a8
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diff --git a/control/predicted_path_checker/README.md b/control/predicted_path_checker/README.md
@@ -8,6 +8,8 @@ distance. In case of collision in brake distance, the package will send a diagno
 the system to send emergency and in the case of collisions in outside reference trajectory, it sends pause request to
 pause interface to make the vehicle stop.
 
+![general-structure.png](images%2Fgeneral-structure.png)
+
 ## Algorithm
 
 The package algorithm evaluates the predicted trajectory against the reference trajectory and the predicted objects in

diff --git a/control/predicted_path_checker/images/general-structure.png b/control/predicted_path_checker/images/general-structure.png