diff --git a/planning/behavior_path_start_planner_module/README.md b/planning/behavior_path_start_planner_module/README.md index f4aa3936bee56..2f90cc2ee3cf2 100644 --- a/planning/behavior_path_start_planner_module/README.md +++ b/planning/behavior_path_start_planner_module/README.md @@ -2,17 +2,23 @@ ## Purpose / Role -The Start Planner module is designed to generate a path from the current ego position to the driving lane, avoiding static obstacles and implementing safety checks against dynamic obstacles. (Note: The feature of safety checks against dynamic obstacles is currently a work in progress.) -This module is activated when a new route is received. +The Start Planner module is designed to generate a path from the current ego position to the driving lane, avoiding static obstacles and stopping in response to dynamic obstacles when a collision is detected. -Use cases are as follows +Use cases include: -- start smoothly from the current ego position to centerline. - ![case1](./images/start_from_road_lane.drawio.svg) - pull out from the side of the road lane to centerline. - ![case2](./images/start_from_road_side.drawio.svg) + +
+ ![case1](images/start_from_road_side.drawio.svg){width=1000} +
pull out from side of the road lane
+
+ - pull out from the shoulder lane to the road lane centerline. - ![case3](./images/start_from_road_shoulder.drawio.svg) + +
+ ![case2](images/start_from_start_from_road_shoulder.drawio.svg){width=1000} +
pull out from the shoulder lane
+
## Design diff --git a/planning/behavior_path_start_planner_module/images/start_from_road_lane.drawio.svg b/planning/behavior_path_start_planner_module/images/start_from_road_lane.drawio.svg deleted file mode 100644 index 7a89cc2183acf..0000000000000 --- a/planning/behavior_path_start_planner_module/images/start_from_road_lane.drawio.svg +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - -