docs(bpp): separate goal planner document

Signed-off-by: satoshi-ota <[email protected]>

planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md → planning/behavior_path_goal_planner_module/README.md

@@ -91,7 +91,7 @@ Either one is activated when all conditions are met.
 
 If the target path contains a goal, modify the points of the path so that the path and the goal are connected smoothly. This process will change the shape of the path by the distance of `refine_goal_search_radius_range` from the goal. Note that this logic depends on the interpolation algorithm that will be executed in a later module (at the moment it uses spline interpolation), so it needs to be updated in the future.
 
-![path_goal_refinement](../image/path_goal_refinement.drawio.svg)
+![path_goal_refinement](./images/path_goal_refinement.drawio.svg)
 
 <img src="https://user-images.githubusercontent.com/39142679/237929955-c0adf01b-9e3c-45e3-848d-98cf11e52b65.png" width="600">
 
@@ -203,7 +203,7 @@ The lateral jerk is searched for among the predetermined minimum and maximum val
 2. In the section between merge start and end, path is shifted by a method that is used to generate avoidance path (four segmental constant jerk polynomials)
 3. Combine this path with center line of road lane
 
-![shift_parking](../image/shift_parking.drawio.svg)
+![shift_parking](./images/shift_parking.drawio.svg)
 
 [shift_parking video](https://user-images.githubusercontent.com/39142679/178034101-4dc61a33-bc49-41a0-a9a8-755cce53cbc6.mp4)
 
@@ -234,7 +234,7 @@ See also [[1]](https://www.sciencedirect.com/science/article/pii/S14746670153474
 
 Generate two forward arc paths.
 
-![arc_forward_parking](../image/arc_forward_parking.drawio.svg)
+![arc_forward_parking](./images/arc_forward_parking.drawio.svg)
 
 [arc_forward_parking video](https://user-images.githubusercontent.com/39142679/178034128-4754c401-8aff-4745-b69a-4a69ca29ce4b.mp4)
 
@@ -251,7 +251,7 @@ Generate two forward arc paths.
 
 Generate two backward arc paths.
 
-![arc_backward_parking](../image/arc_backward_parking.drawio.svg).
+![arc_backward_parking](./images/arc_backward_parking.drawio.svg).
 
 [arc_backward_parking video](https://user-images.githubusercontent.com/39142679/178034280-4b6754fe-3981-4aee-b5e0-970f34563c6d.mp4)
 
@@ -269,7 +269,7 @@ Generate two backward arc paths.
 If the vehicle gets stuck with `lane_parking`, run `freespace_parking`.
 To run this feature, you need to set `parking_lot` to the map, `activate_by_scenario` of [costmap_generator](../../costmap_generator/README.md) to `false` and `enable_freespace_parking` to `true`
 
-![pull_over_freespace_parking_flowchart](../image/pull_over_freespace_parking_flowchart.drawio.svg)
+![pull_over_freespace_parking_flowchart](./images/pull_over_freespace_parking_flowchart.drawio.svg)
 
 Simultaneous execution with `avoidance_module` in the flowchart is under development.