Add documentation for Planning in Paf22

doc/03_research/03_planning/00_paf23/02_PlanningPaf22.md

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+# Planning in PAF 22
+
+[(Github)](https://github.com/ll7/paf22)
+
+## Architecture
+
+![overview](overview.jpg)
+
+### Preplanning
+
+Use map and route to find path.
+Without obstacles.
+
+### Decision Making
+
+Decides if preplanned path can be taken.
+Chooses fitting action and forwards information to local path planning.
+
+### Local path planning
+
+Translates action into a concrete path.
+
+## Planning documentation
+
+### Preplanning in code
+
+Create Trajectory out of MapData.
+File: preplanning_trajectory.py
+
+- No subscribers or publishers
+- provides OpenDriveConverter class
+- calculates the global trajectory
+
+### Global Plan in code
+
+Collects leaderboard data for preplanning.
+Publishes trajectory and speed limit to other componentens (Acting, Decision Making).
+
+File: global_planner.py
+
+- ros-node
+- Provides PrePlanner class
+- methods: world_info, global_route, position
+
+Subscribed Topics:
+If one of them gets updated the corresponding method is called
+
+- OpenDrive map
+- global plan
+- current agent position
+
+Published topics:
+
+- preplanned trajectory
+- prevailing speed limits
+
+### Decision Making in code
+
+Makes Decision based on information from other components.
+Should cover all possible traffic scenarios.
+
+File: behaviour_tree.py, intersection.py, lane_change.py, ...
+
+- Behaviours publish only target_speed
+
+## Conclusion
+
+- Difference between architecture and planning documentation
+- No real local path component
+
+### What can be done next
+
+- Create Architecture for Local Planning
+- Decide which code can be used for our project
+- refactoring code (some methods are over 100 lines)