docs(obstacle_cruise_planner): add supplemental figures (#9154)

* add behavior determination flowchart * add cruise planning block diagram * style(pre-commit): autofix --------- Signed-off-by: mitukou1109 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Dec 16, 2024 · 19ca9f7 · 19ca9f7
1 parent 9167bfb
commit 19ca9f7
Show file tree

Hide file tree

Showing 3 changed files with 2,958 additions and 0 deletions.
diff --git a/planning/autoware_obstacle_cruise_planner/README.md b/planning/autoware_obstacle_cruise_planner/README.md
@@ -75,6 +75,10 @@ The obstacles not in front of the ego will be ignored.
 
 ![determine_cruise_stop_slow_down](./media/determine_cruise_stop_slow_down.drawio.svg)
 
+The behavior determination flowchart is shown below.
+
+![behavior_determination_flowchart](./media/behavior_determination_flowchart.drawio.svg)
+
 #### Determine cruise vehicles
 
 The obstacles meeting the following condition are determined as obstacles for cruising.
@@ -241,6 +245,10 @@ $$
 | `lpf(val)`        | apply low-pass filter to `val`          |
 | `pid(val)`        | apply pid to `val`                      |
 
+#### Block diagram
+
+![cruise_planning_block_diagram](./media/cruise_planning_block_diagram.drawio.svg)
+
 ### Slow down planning
 
 | Parameter                                                         | Type           | Description                                                                                                                                                                                                                                                                                                  |

diff --git a/...oware_obstacle_cruise_planner/media/behavior_determination_flowchart.drawio.svg b/...oware_obstacle_cruise_planner/media/behavior_determination_flowchart.drawio.svg