diff --git a/planning/behavior_path_start_planner_module/README.md b/planning/behavior_path_start_planner_module/README.md index faae35b511304..15dacc7570e01 100644 --- a/planning/behavior_path_start_planner_module/README.md +++ b/planning/behavior_path_start_planner_module/README.md @@ -26,8 +26,7 @@ In the shoulder lane, when there are no parked vehicles ahead and the shoulder l ![shift_pull_out](images/shift_pull_out_path.drawio.svg){width=1100} - -### **Use Case 2: Geometric pull out** +### **Use Case 2: Geometric pull out** In the shoulder lane, when there are objects both in front and behind, a geometric pull out path is generated. @@ -35,7 +34,6 @@ In the shoulder lane, when there are objects both in front and behind, a geometr ![geometric_pull_out](images/geometric_pull_out_path.drawio.svg){width=1100} - ### **Use Case 3: Backward and shift pull out** In the shoulder lane, when there are parked vehicles ahead and the shoulder lane is sufficiently long behind, a path that involves reversing before generating a forward shift pull out path is created. diff --git a/planning/behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg b/planning/behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg index 01879ff0c01f0..295b5f97c1cf0 100644 --- a/planning/behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg +++ b/planning/behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg @@ -1 +1,48 @@ - \ No newline at end of file + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg b/planning/behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg index 050478d0e9a96..37465f8b60cc7 100644 --- a/planning/behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg +++ b/planning/behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg @@ -1 +1,57 @@ - \ No newline at end of file + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg b/planning/behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg index aea0b74aff994..a8f16716e6b07 100644 --- a/planning/behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg +++ b/planning/behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg @@ -1 +1,41 @@ - \ No newline at end of file + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg b/planning/behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg index 893d4d5b6ec3e..cc7223786833a 100644 --- a/planning/behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg +++ b/planning/behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg @@ -1 +1,47 @@ - \ No newline at end of file + + + + + + + + + + + + + + + + + +