diff --git a/docs/tutorials/ad-hoc-simulation/planning-simulation.md b/docs/tutorials/ad-hoc-simulation/planning-simulation.md index 10da0cd29e5..b421465def8 100644 --- a/docs/tutorials/ad-hoc-simulation/planning-simulation.md +++ b/docs/tutorials/ad-hoc-simulation/planning-simulation.md @@ -228,37 +228,37 @@ To pass through an unsignalized crosswalk, the ego vehicle will first slow down 1. Set an initial pose and a goal pose of the ego vehicle driving across an unsignalized crosswalk. A path will be planned. -![unsignalized-placing-ego-vehicle](images/planning/passing-crosswalk/unsignalized-placing-ego-vehicle.png) + ![unsignalized-placing-ego-vehicle](images/planning/passing-crosswalk/unsignalized-placing-ego-vehicle.png) 2. Place a dummy pedestrian on the crosswalk and set its pose as if it is crossing the street. -![unsignalized-crosswalk-start](images/planning/passing-crosswalk/unsignalized-crosswalk-start.png) + ![unsignalized-crosswalk-start](images/planning/passing-crosswalk/unsignalized-crosswalk-start.png) 3. Engage the ego vehicle. The ego vehicle will decelerate and stop before the crosswalk. The marked **crosswalk** in the figure indicates that the stopping behavior is casued by the objects on the **crosswalk**. -![unsignalized-crosswalk-stop](images/planning/passing-crosswalk/unsignalized-crosswalk-stop.png) + ![unsignalized-crosswalk-stop](images/planning/passing-crosswalk/unsignalized-crosswalk-stop.png) 4. Wait for about three seconds. The ego vehicle will start moving again and cross the crosswalk. -![unsignalized-crosswalk-move-again](images/planning/passing-crosswalk/unsignalized-crosswalk-move-again.png) + ![unsignalized-crosswalk-move-again](images/planning/passing-crosswalk/unsignalized-crosswalk-move-again.png) #### Signalized crosswalk 1. Set the ego vehicle and a dummy pedestrian at an intersection, similar to the previous scenario. Given that the traffic light is `GREEN` by default, the ego vehicle behaves as it does at an unsignalized crosswalk, decelerating and stopping. -![signalized-placing-ego-vehicle](images/planning/passing-crosswalk/signalized-placing-ego-vehicle.png) + ![signalized-placing-ego-vehicle](images/planning/passing-crosswalk/signalized-placing-ego-vehicle.png) 2. Delete the dummy pedestrian and set the traffic light to `RED`. The ego vehicle will decelerate and stop before the crosswalk. The marked **traffic_light** in the figure indicates that the stop is casued by the **traffic_light**. The ego vehicle will not move until the traffic light turns green. -![signalized-traffic-light-stop](images/planning/passing-crosswalk/signalized-traffic-light-stop.png) + ![signalized-traffic-light-stop](images/planning/passing-crosswalk/signalized-traffic-light-stop.png) 3. Set a dummy pedestrian on the crosswalk agian. It can be seen that both the **traffic_light** and **crosswalk** (the two markings may overlap) affact the stopping behavior. -![signalized-traffic-light-crosswalk-stop.png](images/planning/passing-crosswalk/signalized-traffic-light-crosswalk-stop.png) + ![signalized-traffic-light-crosswalk-stop.png](images/planning/passing-crosswalk/signalized-traffic-light-crosswalk-stop.png) 4. Set the traffic light to `GREEN` and engage the vehicle, the ego vehicle will stop for safety check and start move again. -![signalized-passing](images/planning/passing-crosswalk/signalized-passing.png) + ![signalized-passing](images/planning/passing-crosswalk/signalized-passing.png) ## Using Autoware Launch GUI