diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md
index c1878377ded50..cc5599fb71639 100644
--- a/planning/behavior_path_planner/README.md
+++ b/planning/behavior_path_planner/README.md
@@ -28,7 +28,7 @@ Behavior path planner has following scene modules.
 | Goal Planner             | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](./docs/behavior_path_planner_start_planner_design.md)            |
 | Side Shift               | (for remote control) shift the path to left or right according to an external instruction.                                                                                 | [LINK](./docs/behavior_path_planner_side_shift_design.md)               |
 
-![behavior_modules](./image/behavior_modules.png)
+![behavior_modules](./image/behavior_modules.svg)
 
 All scene modules are implemented by inheriting base class `scene_module_interface.hpp`.
 
diff --git a/planning/behavior_path_planner/image/behavior_modules.png b/planning/behavior_path_planner/image/behavior_modules.png
deleted file mode 100644
index 0f21b959ed32c..0000000000000
Binary files a/planning/behavior_path_planner/image/behavior_modules.png and /dev/null differ
diff --git a/planning/behavior_path_planner/image/behavior_modules.svg b/planning/behavior_path_planner/image/behavior_modules.svg
new file mode 100644
index 0000000000000..f187eb0b09883
--- /dev/null
+++ b/planning/behavior_path_planner/image/behavior_modules.svg
@@ -0,0 +1,4 @@
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