diff --git a/.cspell.json b/.cspell.json
new file mode 100644
index 00000000000..0cd761eb370
--- /dev/null
+++ b/.cspell.json
@@ -0,0 +1,3 @@
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+  "words": ["ISCLOAM"]
+}
diff --git a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
index 1aa2d3f2c54..b531addd3c9 100644
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+++ b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
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tooltip=&quot;一定範囲内のLiDAR点群のみを切り取って出力する。ホントは遠くまで見たいけど、歪みの影響が大きくなったり、そもそも遠方の点群地図がなかったりするので、近くだけを見てる。&quot; id=&quot;HlP1Fyv2lvvOLci_jDg2-125&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;110&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;vehicle_velocity_converter&quot; tooltip=&quot;車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。&quot; id=&quot;HlP1Fyv2lvvOLci_jDg2-126&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1650&quot; y=&quot;100&quot; 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tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-22&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;costmap_generator&quot; tooltip=&quot;障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator&quot; id=&quot;F5SEpTDf39VAK2Lenjye-34&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;&amp;quot;&amp;gt;/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=none;html=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-30&quot; target=&quot;43&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;motion_velocity_&amp;lt;br&amp;gt;smoother&quot; tooltip=&quot;経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/motion_velocity_smoother&quot; id=&quot;F5SEpTDf39VAK2Lenjye-30&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;17&quot; value=&quot;&quot; style=&quot;group;comic=0;&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-528.5&quot; y=&quot;-680&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;behavior_path_planner&quot; tooltip=&quot;交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner&quot; id=&quot;11&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;17&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1.5&quot; y=&quot;-90&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_avoidance&quot; tooltip=&quot;ルート情報や障害物情報をもとに、障害物回避を実行します。&quot; id=&quot;12&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;17&quot;&gt;&#10; 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parent=&quot;17&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;108&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_change&quot; tooltip=&quot;ルート情報や障害物情報をもとに、レーンチェンジを実行します。&quot; id=&quot;15&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;17&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-14&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_following&quot; tooltip=&quot;ルート情報をもとに走行経路を作成します。&quot; id=&quot;16&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;17&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-52&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;32&quot; value=&quot;&amp;amp;lt;Lane Driving&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-420&quot; y=&quot;-800.0030303030303&quot; width=&quot;90&quot; height=&quot;20.303030303030305&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;no_stopping_area&quot; tooltip=&quot;停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。&quot; id=&quot;33&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-202&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;occlusion_spot&quot; tooltip=&quot;地図情報および動物体情報から、死角手前での減速を行います。&quot; id=&quot;34&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-237.00000000000006&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;intersection&quot; tooltip=&quot;地図情報および動物体情報から、交差点での停止/発進の判定を行います。&quot; id=&quot;35&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-271.00000000000006&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;36&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-337&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;cross_walk&quot; tooltip=&quot;横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。&quot; id=&quot;37&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-374&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;blind_spot&quot; tooltip=&quot;右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。&quot; id=&quot;38&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;detection_area&quot; tooltip=&quot;規定エリア内の障害物点群がある場合に、対応する位置で停止します&quot; id=&quot;39&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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tooltip=&quot;経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-45&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot;&gt;&#10;            &lt;mxGeometry x=&quot;460&quot; y=&quot;-760&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;vehicle_cmd_gate&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate&quot; tooltip=&quot;指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-66&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot;&gt;&#10; 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edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-133&quot; target=&quot;F5SEpTDf39VAK2Lenjye-140&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-133&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-134&quot; value=&quot;top/pointcloud_raw&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-135&quot; target=&quot;F5SEpTDf39VAK2Lenjye-137&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1830&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-135&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-136&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-137&quot; target=&quot;F5SEpTDf39VAK2Lenjye-139&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; 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link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-140&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-141&quot; value=&quot;lidar/*/velodyne_packets&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-142&quot; target=&quot;F5SEpTDf39VAK2Lenjye-146&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-142&quot; value=&quot;lidar_drivers&amp;lt;br&amp;gt;(left,right,front_right, front_left,rear)&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-143&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; 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edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-146&quot; target=&quot;F5SEpTDf39VAK2Lenjye-148&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2000&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-146&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-147&quot; 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y=&quot;370&quot; width=&quot;230&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-50&quot; value=&quot;downsample/pointcloud&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;entryX=0.74;entryY=-0.011;entryDx=0;entryDy=0;entryPerimeter=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-51&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-49&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;random_&amp;lt;br&amp;gt;downsample_filter&quot; tooltip=&quot;点群数が一定以下になるようにランダムに間引く。基本的にはvoxel grid filterで丁度いいくらい点群数になるように調整してあり、点群数のlimiter的な立ち位置が強い&amp;#xa;&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-51&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; 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source=&quot;Pjof6qbQSnyucxmTkPQx-57&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-45&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_filter_&amp;lt;br&amp;gt;measurement_range&quot; tooltip=&quot;一定範囲内のLiDAR点群のみを切り取って出力する。ホントは遠くまで見たいけど、歪みの影響が大きくなったり、そもそも遠方の点群地図がなかったりするので、近くだけを見てる。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-57&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-1&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;110&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;vehicle_velocity_converter&quot; tooltip=&quot;車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-58&quot;&gt;&#10; 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style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-148&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-150&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.4&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;obstacle_&amp;lt;br&amp;gt;avoidance_planner&quot; tooltip=&quot;車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_avoidance_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-148&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;10&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-149&quot; value=&quot;motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-150&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-151&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;obstacle_velocity_limiter&quot; tooltip=&quot;自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-150&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-500&quot; y=&quot;90&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_stop_&amp;lt;br&amp;gt;planner&quot; tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-151&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;170&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;costmap_generator&quot; tooltip=&quot;障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/costmap_generator&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-152&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-210&quot; y=&quot;-640&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;external_velocity_&amp;lt;br&amp;gt;limit_selector&quot; tooltip=&quot;apiとautoware.iv内部から送られてくる制約付き減速指示を受け取り、整合性をとる&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/external_velocity_limit_selector&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-860&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-154&quot; value=&quot;/planning/scenario_planning/max_velocity&amp;lt;br&amp;gt;[tier4_planning_msgs/msg/VelocityLimit]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;&quot; 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target=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxGeometry x=&quot;0.4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-597.5&quot; y=&quot;330&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-830&quot; y=&quot;330&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-800&quot; y=&quot;190&quot; /&gt;&#10;            &lt;/Array&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-156&quot; value=&quot;lane_driving/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.25;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; 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/&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;scenario_selector&quot; tooltip=&quot;いまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/scenario_selector&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-158&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;290&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-159&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;&amp;quot;&amp;gt;/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=none;html=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-160&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-67&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;motion_velocity_&amp;lt;br&amp;gt;smoother&quot; tooltip=&quot;経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/motion_velocity_smoother&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-160&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-161&quot; value=&quot;&quot; style=&quot;group;comic=0;&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-528.5&quot; y=&quot;-680&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;behavior_path_planner&quot; tooltip=&quot;交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-162&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1.5&quot; y=&quot;-90&quot; width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;obstacle_avoidance&quot; tooltip=&quot;ルート情報や障害物情報をもとに、障害物回避を実行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-163&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;28&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;pull_over/out&quot; tooltip=&quot;ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-164&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;68&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;side_shift&quot; tooltip=&quot;遠隔からの司令をもとに幅寄せを行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-165&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;108&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_change&quot; tooltip=&quot;ルート情報や障害物情報をもとに、レーンチェンジを実行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-166&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-161&quot;&gt;&#10;            &lt;mxGeometry x=&quot;38.5&quot; y=&quot;-14&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;lane_following&quot; tooltip=&quot;ルート情報をもとに走行経路を作成します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-167&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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tooltip=&quot;横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-173&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-374&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;blind_spot&quot; tooltip=&quot;右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-174&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;detection_area&quot; tooltip=&quot;規定エリア内の障害物点群がある場合に、対応する位置で停止します&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-175&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-445&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;stop_line&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-176&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10; 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edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-179&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-182&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.8417&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#10;              &lt;mxPoint x=&quot;-230&quot; y=&quot;-840&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;mission_planner&quot; tooltip=&quot;高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/mission_planner&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-179&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-489&quot; y=&quot;-950&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-180&quot; value=&quot;behavior_planning/path_with_lane_id&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-162&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-142&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-507&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-457&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-181&quot; value=&quot;behavior_planning/path&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-141&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-430&quot; y=&quot;-30&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-430&quot; y=&quot;10&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;freespace_planner&quot; tooltip=&quot;コストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/freespace_planner&quot; 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source=&quot;Pjof6qbQSnyucxmTkPQx-190&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-153&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;run_out&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-192&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-140&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-132&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;virtual_traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-193&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; 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tooltip=&quot;経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-203&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-195&quot;&gt;&#10;            &lt;mxGeometry x=&quot;460&quot; y=&quot;-760&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;vehicle_cmd_gate&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate&quot; tooltip=&quot;指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-204&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-195&quot;&gt;&#10; 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as=&quot;offset&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-221&quot; value=&quot;/current_gate_mode&amp;amp;nbsp;[GateMode]&amp;lt;div&amp;gt;/gear_cmd [GearCommand]&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;/turn_indicators_cmd&amp;amp;nbsp; [TurnIndicatorCommand]&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;div&amp;gt;/hazard_lights_cmd&amp;amp;nbsp; [HazardLightsCommand]&amp;lt;/div&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;/vehicle_emergency_cmd [VehicleEmergencyStamped]&amp;lt;/div&amp;gt;&quot; style=&quot;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;align=left;labelBackgroundColor=default;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=0;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-195&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-204&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-230&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.3878&quot; y=&quot;-55&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;620&quot; y=&quot;80&quot; as=&quot;targetPoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;577.8331640019246&quot; y=&quot;-265&quot; as=&quot;sourcePoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-222&quot; value=&quot;Topics&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-0&quot; /&gt;&#10;        &lt;object label=&quot;VehicleInterface&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-223&quot;&gt;&#10;          &lt;mxCell parent=&quot;Pjof6qbQSnyucxmTkPQx-0&quot; /&gt;&#10;        &lt;/object&gt;&#10;        &lt;object label=&quot;g30_interface&quot; tooltip=&quot;ヤマハのGCとのインターフェース&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-224&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-223&quot;&gt;&#10;            &lt;mxGeometry x=&quot;416&quot; y=&quot;97&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/object&gt;&#10;        &lt;UserObject label=&quot;raw_vehicle_cmd_&amp;lt;br&amp;gt;converter&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/raw_vehicle_cmd_converter&quot; tooltip=&quot;速度・加速度の目標値を、車両特有の制御信号（アクセル/ブレーキ等）に変換します&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-225&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-223&quot;&gt;&#10;            &lt;mxGeometry x=&quot;285&quot; y=&quot;-160&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-226&quot; 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height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-229&quot; value=&quot;/vehicle/status/velocity_status&amp;lt;br&amp;gt;/vehicle/status/steering_status&amp;lt;br&amp;gt;/vehicle/status/turn_indicators_status&amp;lt;br&amp;gt;/vehicle/status/gear_status&amp;lt;br&amp;gt;/vehicle/status/control_mode&amp;lt;br&amp;gt;/vehicle/status/&amp;lt;span style=&amp;quot;text-align: center&amp;quot;&amp;gt;actuation_status&amp;lt;/span&amp;gt;&quot; style=&quot;endArrow=classic;html=1;exitX=0.121;exitY=0.011;exitDx=0;exitDy=0;exitPerimeter=0;comic=0;align=left;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-223&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.0831&quot; y=&quot;65&quot; width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;175.01999999999862&quot; y=&quot;80.76999999999998&quot; 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id=&quot;Pjof6qbQSnyucxmTkPQx-231&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-223&quot;&gt;&#10;            &lt;mxGeometry x=&quot;107&quot; y=&quot;-160&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;object label=&quot;Vehicle&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-232&quot;&gt;&#10;          &lt;mxCell parent=&quot;Pjof6qbQSnyucxmTkPQx-0&quot; /&gt;&#10;        &lt;/object&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-233&quot; value=&quot;/pacmod/**&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;fillColor=#f5f5f5;strokeColor=#666666;exitX=0.5;exitY=1;exitDx=0;exitDy=0;startArrow=classic;startFill=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-232&quot; 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y=&quot;580&quot; width=&quot;120&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-235&quot; value=&quot;&amp;amp;lt;CAN&amp;amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;fillColor=#f5f5f5;strokeColor=#666666;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-232&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-237&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-236&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;JapanTaxi&quot; tooltip=&quot;ASといろいろあったよ&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-236&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-232&quot;&gt;&#10; 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         &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;lidar_driver&quot; tooltip=&quot;velodyneのdriverです。VLP16, VLP32, VLS128, Livoxなどなど、たくさん種類があります。&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-241&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-242&quot; value=&quot;top/rectified/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-243&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-250&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-243&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-244&quot; value=&quot;top/pointcloud_raw&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-245&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-247&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-1830&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-245&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-246&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-247&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-249&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-247&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-248&quot; value=&quot;top/mirror_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-249&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-243&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-249&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-250&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-251&quot; value=&quot;lidar/*/velodyne_packets&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-252&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-256&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-252&quot; value=&quot;lidar_drivers&amp;lt;br&amp;gt;(left,right,front_right, front_left,rear)&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-253&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/rectified/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-254&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-261&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-254&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-255&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/pointcloud_raw&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-256&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-258&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;-2000&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-256&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-257&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/self_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-258&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-260&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-258&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-259&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0 , 0 , 0) ; font-family: &amp;amp;#34;helvetica&amp;amp;#34; ; font-size: 11px ; font-style: normal ; font-weight: 400 ; letter-spacing: normal ; text-align: center ; text-indent: 0px ; text-transform: none ; word-spacing: 0px ; background-color: rgb(255 , 255 , 255) ; display: inline ; float: none&amp;quot;&amp;gt;*/mirror_cropped/pointcloud&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-260&quot; target=&quot;Pjof6qbQSnyucxmTkPQx-254&quot;&gt;&#10;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-260&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;Pjof6qbQSnyucxmTkPQx-261&quot;&gt;&#10;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; vertex=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot;&gt;&#10;            &lt;mxGeometry x=&quot;-2060&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;          &lt;/mxCell&gt;&#10;        &lt;/UserObject&gt;&#10;        &lt;mxCell id=&quot;Pjof6qbQSnyucxmTkPQx-262&quot; value=&quot;concatenated/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; edge=&quot;1&quot; parent=&quot;Pjof6qbQSnyucxmTkPQx-239&quot; source=&quot;Pjof6qbQSnyucxmTkPQx-263&quot;&gt;&#10;          &lt;mxGeometry x=&quot;-0.2727&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;Array as=&quot;points&quot;&gt;&#10;              &lt;mxPoint x=&quot;-1930&quot; y=&quot;-220&quot; /&gt;&#10;            &lt;/Array&gt;&#10;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#10;            &lt;mxPoint x=&quot;-1930&quot; y=&quot;-175&quot; as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;UserObject label=&quot;concat_filter&quot; tooltip=&quot;複数のLiDAR点群をまとめて1つにする&quot; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 1470px; margin-left: 2076px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><span style="color: rgb(0, 0, 0); font-family: Helvetica; font-size: 11px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 352px; margin-left: 2823px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div> /control/trajectory_follower/lateral/control_cmd</div><div> [AckermannLateralControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2823" y="355" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/lateral/control_cmd...</text></switch></g><path d="M 3003 310 L 3003 430 L 2848 430 L 2848 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2848 448.88 L 2844.5 441.88 L 2848 443.63 L 2851.5 441.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 520px; margin-left: 2848px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><div>/control/trajectory_follower/control_cmd</div><div> [AckermannControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2848" y="523" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/mpc_lateral_controller-design.md"><rect x="2744" y="270" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 290px; margin-left: 2745px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">lateral_controller</div></div></div></foreignObject><text x="2804" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lateral_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/pid_longitudinal_controller-design.md"><rect x="2923" y="270" width="160" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 290px; margin-left: 2924px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">longitudinal_controller</div></div></div></foreignObject><text x="3003" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">longitudinal_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate"><rect x="2563" y="705" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title></rect><g transform="translate(-0.5 -0.5)"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 678px; height: 1px; padding-top: 735px; margin-left: 2564px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">vehicle_cmd_gate</div></div></div></foreignObject><text x="2903" y="739" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">vehicle_cmd_gate</text></switch></g></a><path d="M 2809.08 765.66 L 2808 765.7 L 2808 863.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2808 868.88 L 2804.5 861.88 L 2808 863.63 L 2811.5 861.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 810px; margin-left: 2814px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">control/command/control_cmd<br /> [AckermannControlCommand]</div></div></div></foreignObject><text x="2814" y="813" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">control/command/control_cmd...</text></switch></g><path d="M 2848 628 L 2848 660 L 2847.93 698.33" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2847.92 703.58 L 2844.43 696.58 L 2847.93 698.33 L 2851.43 696.59 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 660px; margin-left: 2848px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/control/shift_decider/gear_cmd<br />[GearCommand]</div></div></div></foreignObject><text x="2848" y="663" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/shift_decider/gear_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/shift_decider"><rect x="2788" y="588" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>制御出力に応じてギア変更のコマンドを出力します</title></rect><g transform="translate(-0.5 -0.5)"><title>制御出力に応じてギア変更のコマンドを出力します</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 570px; margin-left: 2643px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="2643" y="573" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/lane_departure_checker"><rect x="2583" y="470" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"><title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title></rect><g transform="translate(-0.5 -0.5)"><title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 408px; margin-left: 2643px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;">predicted_trajectory</div></div></div></foreignObject><text x="2643" y="411" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">predicted_trajectory</text></switch></g><path d="M 3403 290 L 3403 353.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3403 358.88 L 3399.5 351.88 L 3403 353.63 L 3406.5 351.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 325px; margin-left: 3403px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;">/external/selected/external_control_cmd<br /> [tier4_external_api_msgs/msg/ControlCommandStamped]</div></div></div></foreignObject><text x="3403" y="328" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/external/selected/external_control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/external_cmd_selector"><rect x="3343" y="250" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 3164px;"><div data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFFFFF; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; background-color: rgb(255, 255, 255); white-space: nowrap;"><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/control <br /></font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/ControlCommandStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/shift</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/GearShiftStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/turn_signal</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/TurnSignalStamped]</font></div></div></div></div></foreignObject><text x="3164" y="603" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/api/external/set/command/remote/control...</text></switch></g><path d="M 2848 490 L 2848 581.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 2848 586.88 L 2844.5 579.88 L 2848 581.63 L 2851.5 579.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3403 400 L 3403 660 L 3206.3 660 L 3206.28 698.51" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 3206.28 703.76 L 3202.78 696.76 L 3206.28 698.51 L 3209.78 696.76 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;HlP1Fyv2lvvOLci_jDg2-116&quot; value=&quot;pose_estimator/&amp;lt;br&amp;gt;pose_with_covariance&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.734;exitY=1.054;exitDx=0;exitDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;entryX=0.192;entryY=-0.017;entryDx=0;entryDy=0;entryPerimeter=0;elbow=vertical;exitPerimeter=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot; source=&quot;HlP1Fyv2lvvOLci_jDg2-117&quot; target=&quot;HlP1Fyv2lvvOLci_jDg2-115&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.3197&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-1580.8600000000001&quot; y=&quot;449&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot; source=&quot;HlP1Fyv2lvvOLci_jDg2-119&quot; target=&quot;HlP1Fyv2lvvOLci_jDg2-117&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;random_&amp;lt;br&amp;gt;downsample_filter&quot; tooltip=&quot;点群数が一定以下になるようにランダムに間引く。基本的にはvoxel grid filterで丁度いいくらい点群数になるように調整してあり、点群数のlimiter的な立ち位置が強い&amp;#xa;&quot; id=&quot;HlP1Fyv2lvvOLci_jDg2-119&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1970&quot; y=&quot;280&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;HlP1Fyv2lvvOLci_jDg2-120&quot; value=&quot;/initialpose3d&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.75;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot; source=&quot;HlP1Fyv2lvvOLci_jDg2-121&quot; target=&quot;HlP1Fyv2lvvOLci_jDg2-117&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-2100&quot; y=&quot;220&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-2100&quot; y=&quot;400&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint x=&quot;-1970&quot; y=&quot;489&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;pose_initializer&quot; tooltip=&quot;GNSS / Userからラフな初期位置を受け取り、NDT+モンテカルロ法で正確な自己位置を推定して出力する。NDTとはserviceでやり取りする。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/localization/pose_initializer&quot; id=&quot;HlP1Fyv2lvvOLci_jDg2-121&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-2250&quot; y=&quot;200&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;HlP1Fyv2lvvOLci_jDg2-122&quot; value=&quot;twist_estimator/twist_with_covariance&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;html=1;startArrow=none;startFill=0;endArrow=classic;endFill=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.853;entryY=-0.036;entryDx=0;entryDy=0;entryPerimeter=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-51&quot; source=&quot;HlP1Fyv2lvvOLci_jDg2-123&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;0.3811&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-1705.5700000000002&quot; y=&quot;467.5599999999995&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-1707&quot; y=&quot;170&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-1706&quot; y=&quot;170&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-1706&quot; y=&quot;390&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;gyro_odometer&quot; tooltip=&quot;車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/localization/gyro_odometer&quot; id=&quot;HlP1Fyv2lvvOLci_jDg2-123&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#dae8fc;strokeColor=#6c8ebf;sketch=0;&quot; 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value=&quot;motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-20&quot; target=&quot;F5SEpTDf39VAK2Lenjye-21&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.4&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;obstacle_&amp;lt;br&amp;gt;avoidance_planner&quot; tooltip=&quot;車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_avoidance_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-20&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;20&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-26&quot; value=&quot;motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-21&quot; target=&quot;F5SEpTDf39VAK2Lenjye-22&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;obstacle_velocity_limiter&quot; tooltip=&quot;自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter&quot; id=&quot;F5SEpTDf39VAK2Lenjye-21&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-500&quot; y=&quot;110&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;obstacle_stop_&amp;lt;br&amp;gt;planner&quot; tooltip=&quot;障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。&amp;#xa;目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-22&quot;&gt;&#xA; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-22&quot; target=&quot;GMkAwjkdd8HhiVTGiUsg-41&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;0.4&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-597.5&quot; y=&quot;330&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;-830&quot; y=&quot;330&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-800&quot; y=&quot;225&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-40&quot; value=&quot;lane_driving/trajectory [Trajectory]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.144;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryPerimeter=0;&quot; 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orphans: 2; text-align: center; text-indent: 0px; text-transform: none; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-thickness: initial; text-decoration-style: initial; text-decoration-color: initial; float: none; display: inline !important;&amp;quot;&amp;gt;/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=none;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-30&quot; target=&quot;43&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;motion_velocity_&amp;lt;br&amp;gt;smoother&quot; tooltip=&quot;経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/motion_velocity_smoother&quot; id=&quot;F5SEpTDf39VAK2Lenjye-30&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;380&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;32&quot; value=&quot;&amp;amp;lt;Lane Driving&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-420&quot; y=&quot;-810.0030303030303&quot; width=&quot;90&quot; height=&quot;20.303030303030305&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;no_stopping_area&quot; tooltip=&quot;停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。&quot; id=&quot;33&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-430&quot; y=&quot;-350&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;occlusion_spot&quot; tooltip=&quot;地図情報および動物体情報から、死角手前での減速を行います。&quot; id=&quot;34&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-350.00000000000006&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;intersection&quot; tooltip=&quot;地図情報および動物体情報から、交差点での停止/発進の判定を行います。&quot; id=&quot;35&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-430&quot; y=&quot;-377&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;36&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-430&quot; y=&quot;-405&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;cross_walk&quot; tooltip=&quot;横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。&quot; id=&quot;37&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-405&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;blind_spot&quot; tooltip=&quot;右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。&quot; id=&quot;38&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-430&quot; y=&quot;-435&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;detection_area&quot; tooltip=&quot;規定エリア内の障害物点群がある場合に、対応する位置で停止します&quot; id=&quot;39&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-435&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;stop_line&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;40&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-320&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;zZJK3J5Nfp7zSMjfmkQw-52&quot; style=&quot;rounded=0;jumpStyle=none;orthogonalLoop=1;jettySize=auto;html=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; target=&quot;11&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-38&quot; value=&quot;/planning/mission_planning/route&amp;lt;br&amp;gt;[autoware_auto_planning_msgs/HADMapRoute]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;jumpStyle=none;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-9&quot; target=&quot;F5SEpTDf39VAK2Lenjye-33&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.8417&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-429&quot; y=&quot;-840&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-230&quot; y=&quot;-840&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;mission_planner&quot; tooltip=&quot;高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/mission_planner&quot; id=&quot;F5SEpTDf39VAK2Lenjye-9&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-489&quot; y=&quot;-950&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-27&quot; value=&quot;behavior_planning/path_with_lane_id&quot; style=&quot;edgeStyle=none;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;11&quot; target=&quot;41&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-507&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;-446.5&quot; y=&quot;-457&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;pMXYhzgBW71XrXo-O7h1-44&quot; target=&quot;F5SEpTDf39VAK2Lenjye-9&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-310&quot; y=&quot;-960&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;-385.5&quot; y=&quot;-1010&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;iM43lsEIwqhlJ7BxjptO-47&quot; value=&quot;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;41&quot; target=&quot;zEs4wxTr3dO1cdEekOQt-57&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-430&quot; y=&quot;-70&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;zEs4wxTr3dO1cdEekOQt-49&quot; value=&quot;behavior_planning/path&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;iM43lsEIwqhlJ7BxjptO-47&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;0.206&quot; y=&quot;-1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;no_drivable_lane&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;7zbXjBYCwGQrjjLUvmJF-41&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-430&quot; y=&quot;-290&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;XJpLpE4-N4LtLg8lOPLy-45&quot; value=&quot;&amp;amp;lt;Parking&amp;amp;gt;&quot; style=&quot;text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-180&quot; y=&quot;-790&quot; width=&quot;80&quot; height=&quot;20&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;7zbXjBYCwGQrjjLUvmJF-47&quot; value=&quot;&amp;lt;span style=&amp;quot;color: rgb(0, 0, 0); font-family: helvetica; font-size: 11px; font-style: normal; font-weight: 400; letter-spacing: normal; text-align: center; text-indent: 0px; text-transform: none; word-spacing: 0px; background-color: rgb(255, 255, 255); display: inline; float: none;&amp;quot;&amp;gt;parking/trajectory [Trajectory]&amp;lt;/span&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.75;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;F5SEpTDf39VAK2Lenjye-33&quot; target=&quot;F5SEpTDf39VAK2Lenjye-29&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;0.6614&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-230&quot; y=&quot;-310&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-230&quot; y=&quot;260&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-357&quot; y=&quot;260&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;surround_obstacle_checker&quot; tooltip=&quot;自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/surround_obstacle_checker&quot; id=&quot;K7M4AEPT0enKUQUD1kn6-43&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-880&quot; y=&quot;110&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;K7M4AEPT0enKUQUD1kn6-44&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;K7M4AEPT0enKUQUD1kn6-43&quot; target=&quot;GMkAwjkdd8HhiVTGiUsg-41&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;run_out&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;iM43lsEIwqhlJ7BxjptO-52&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-430&quot; y=&quot;-320&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;virtual_traffic_light&quot; tooltip=&quot;信号の色に応じて停止/発進の指示をします&quot; id=&quot;iM43lsEIwqhlJ7BxjptO-53&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-377&quot; width=&quot;120&quot; height=&quot;28&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;speed_bump&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;iM43lsEIwqhlJ7BxjptO-54&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-290&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;&amp;lt;div&amp;gt;walkway&amp;lt;/div&amp;gt;&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;zEs4wxTr3dO1cdEekOQt-56&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-230&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;&amp;lt;div&amp;gt;out_of_lane&amp;lt;/div&amp;gt;&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;zEs4wxTr3dO1cdEekOQt-54&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; vertex=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-550&quot; y=&quot;-260&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;merge_from_private&quot; tooltip=&quot;規定された停止線で一時停止を行います&quot; id=&quot;zEs4wxTr3dO1cdEekOQt-55&quot;&gt;&#xA; 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width=&quot;200&quot; height=&quot;241&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;side_shift&quot; tooltip=&quot;遠隔からの司令をもとに幅寄せを行います。&quot; id=&quot;14&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-592&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;pull_over/out&quot; tooltip=&quot;ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。&quot; id=&quot;13&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-632&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;obstacle_avoidance&quot; tooltip=&quot;ルート情報や障害物情報をもとに、障害物回避を実行します。&quot; id=&quot;12&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-672&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;lane_change&quot; tooltip=&quot;ルート情報や障害物情報をもとに、レーンチェンジを実行します。&quot; id=&quot;15&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-714&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;lane_following&quot; tooltip=&quot;ルート情報をもとに走行経路を作成します。&quot; id=&quot;16&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-490&quot; y=&quot;-752&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;planning_validator&quot; tooltip=&quot;Check the trajectory and stop publishing it if it is unsafe.&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/planning/planning_validator&quot; id=&quot;43&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-447.5&quot; y=&quot;460&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;UBmaC0zVdszHxL-9Y1sP-46&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;comic=0;jumpStyle=arc;exitX=0.75;exitY=1;exitDx=0;exitDy=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;11&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-230&quot; y=&quot;-580&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;-380&quot; y=&quot;-520&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-110&quot; y=&quot;-520&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;-110&quot; y=&quot;-295&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;UBmaC0zVdszHxL-9Y1sP-47&quot; value=&quot;/planning/turn_indicators_cmd&amp;amp;nbsp;[TurnIndicatorsCommand]&amp;lt;br&amp;gt;/planning/hazard_lights_cmd&amp;amp;nbsp;[HazardLightsCommand]&quot; style=&quot;edgeLabel;html=1;align=left;verticalAlign=middle;resizable=0;points=[];comic=0;labelBackgroundColor=none;&quot; parent=&quot;UBmaC0zVdszHxL-9Y1sP-46&quot; vertex=&quot;1&quot; connectable=&quot;0&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.0226&quot; y=&quot;1&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-141&quot; y=&quot;80&quot; as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;zEs4wxTr3dO1cdEekOQt-58&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;&quot; edge=&quot;1&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-41&quot; source=&quot;zEs4wxTr3dO1cdEekOQt-57&quot; target=&quot;F5SEpTDf39VAK2Lenjye-20&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;zEs4wxTr3dO1cdEekOQt-59&quot; value=&quot;path_smoother/path&quot; style=&quot;edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];&quot; vertex=&quot;1&quot; connectable=&quot;0&quot; parent=&quot;zEs4wxTr3dO1cdEekOQt-58&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.3175&quot; y=&quot;2&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-133&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;386&quot; y=&quot;-500&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;P3Th9qUTFY8M71-R8FQo-42&quot; value=&quot;trajectory_follower&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#ffe6cc;strokeColor=#d79b00;verticalAlign=top;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;80&quot; y=&quot;-850&quot; width=&quot;570&quot; height=&quot;350&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;Control&quot; link=&quot;data:action/json,{&amp;quot;actions&amp;quot;:[{&amp;quot;toggle&amp;quot;: {&amp;quot;cells&amp;quot;:[&amp;quot;huNNO2pCuBcXr_yaQgU9-10&amp;quot;]}}]}&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-50&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;293&quot; y=&quot;580&quot; width=&quot;120&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-64&quot; value=&quot;&amp;lt;div&amp;gt;&amp;amp;nbsp;/control/trajectory_follower/lateral/control_cmd&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;amp;nbsp;[AckermannLateralControlCommand]&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;br&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=#ffe6cc;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-44&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.6739&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;341&quot; y=&quot;-600&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-600&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;385&quot; y=&quot;-580&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-65&quot; value=&quot;/control/trajectory_follower/longitudinal/control_cmd&amp;lt;br&amp;gt;[LongitudinalControlCommand]&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;labelBackgroundColor=#FFE6CC;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-45&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-133&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.6739&quot; y=&quot;-20&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;385&quot; y=&quot;-580&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;540&quot; y=&quot;-600&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-600&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-67&quot; value=&quot;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;/control/trajectory_follower/control_cmd&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;&amp;amp;nbsp;[AckermannControlCommand]&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div&amp;gt;&amp;lt;span style=&amp;quot;&amp;quot;&amp;gt;&amp;lt;br&amp;gt;&amp;lt;/span&amp;gt;&amp;lt;/div&amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.231;entryY=-0.007;entryDx=0;entryDy=0;entryPerimeter=0;exitX=0.538;exitY=1.004;exitDx=0;exitDy=0;fillColor=none;fontColor=default;labelBackgroundColor=default;exitPerimeter=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;P3Th9qUTFY8M71-R8FQo-42&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.7667&quot; y=&quot;2&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;385&quot; y=&quot;-540&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;431&quot; y=&quot;-390&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-478&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-430&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;257&quot; y=&quot;-430&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;lateral_controller&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/mpc_lateral_controller-design.md&quot; tooltip=&quot;経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-44&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;281&quot; y=&quot;-760&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;longitudinal_controller&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/pid_longitudinal_controller-design.md&quot; tooltip=&quot;経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-45&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;460&quot; y=&quot;-760&quot; width=&quot;160&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;vehicle_cmd_gate&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate&quot; tooltip=&quot;指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-66&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-133&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-66&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.1656&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;Array as=&quot;points&quot;&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-370&quot; /&gt;&#xA;              &lt;mxPoint x=&quot;385&quot; y=&quot;-370&quot; /&gt;&#xA;            &lt;/Array&gt;&#xA;            &lt;mxPoint x=&quot;440&quot; y=&quot;-320&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;shift_decider&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/control/shift_decider&quot; tooltip=&quot;制御出力に応じてギア変更のコマンドを出力します&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-133&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;325&quot; y=&quot;-415&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;external_cmd_&amp;lt;br&amp;gt;converter&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/external_cmd_converter&quot; tooltip=&quot;遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-137&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;880&quot; y=&quot;-670&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;120&quot; y=&quot;-560&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-143&quot; value=&quot;predicted_trajectory&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0;exitY=0.5;exitDx=0;exitDy=0;labelBackgroundColor=#FFE6CC;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-10&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-44&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-142&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;0.5556&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-147&quot; 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&amp;amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;/api/external/set/command/remote/shift&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;[tier4_external_api_msgs/msg/GearShiftStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;/api/external/set/command/remote/turn_signal&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&amp;lt;div style=&amp;quot;text-align: left&amp;quot;&amp;gt;&amp;lt;font style=&amp;quot;font-size: 11px&amp;quot;&amp;gt;&amp;amp;nbsp; &amp;amp;nbsp;[tier4_external_api_msgs/msg/TurnSignalStamped]&amp;lt;/font&amp;gt;&amp;lt;/div&amp;gt;&quot; 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parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;260&quot; y=&quot;97&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;VehicleInterface&quot; link=&quot;data:action/json,{&amp;quot;actions&amp;quot;:[{&amp;quot;toggle&amp;quot;:{&amp;quot;cells&amp;quot;:[&amp;quot;huNNO2pCuBcXr_yaQgU9-73&amp;quot;]}}]}&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-60&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#b0e3e6;strokeColor=#0e8088;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;590&quot; y=&quot;580&quot; width=&quot;120&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-7&quot; value=&quot;/vehicle/status/velocity_status&amp;lt;br&amp;gt;/vehicle/status/steering_status&amp;lt;br&amp;gt;/vehicle/status/turn_indicators_status&amp;lt;br&amp;gt;/vehicle/status/gear_status&amp;lt;br&amp;gt;/vehicle/status/control_mode&amp;lt;br&amp;gt;/vehicle/status/&amp;lt;span style=&amp;quot;text-align: center&amp;quot;&amp;gt;actuation_status&amp;lt;/span&amp;gt;&quot; style=&quot;endArrow=classic;html=1;exitX=0.121;exitY=0.011;exitDx=0;exitDy=0;exitPerimeter=0;comic=0;align=left;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry x=&quot;-0.0831&quot; y=&quot;65&quot; width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;175.01999999999862&quot; y=&quot;80.76999999999998&quot; as=&quot;sourcePoint&quot; /&gt;&#xA;            &lt;mxPoint x=&quot;174&quot; y=&quot;-60&quot; as=&quot;targetPoint&quot; /&gt;&#xA;            &lt;mxPoint as=&quot;offset&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;object label=&quot;&amp;amp;nbsp; &amp;amp;nbsp; vehicle_interface&quot; tooltip=&quot;Autowareと車両のinterfaceです。データの変換が主なタスクです。&quot; id=&quot;F5SEpTDf39VAK2Lenjye-6&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;align=left;comic=0;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;110&quot; y=&quot;80&quot; width=&quot;670&quot; height=&quot;70&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/object&gt;&#xA;        &lt;UserObject label=&quot;accel_map_calibrator&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator&quot; id=&quot;pMXYhzgBW71XrXo-O7h1-52&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#b0e3e6;strokeColor=#0e8088;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-73&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;107&quot; y=&quot;-160&quot; width=&quot;140&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;object label=&quot;Vehicle&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-74&quot;&gt;&#xA; 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       &lt;UserObject label=&quot;Vehicle&quot; link=&quot;data:action/json,{&amp;quot;actions&amp;quot;:[{&amp;quot;toggle&amp;quot;:{&amp;quot;cells&amp;quot;:[&amp;quot;huNNO2pCuBcXr_yaQgU9-74&amp;quot;]}}]}&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-107&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;733&quot; y=&quot;580&quot; width=&quot;120&quot; height=&quot;60&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;huNNO2pCuBcXr_yaQgU9-104&quot; value=&quot;&amp;amp;lt;CAN&amp;amp;gt;&quot; style=&quot;edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;fillColor=#f5f5f5;strokeColor=#666666;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; source=&quot;huNNO2pCuBcXr_yaQgU9-106&quot; target=&quot;huNNO2pCuBcXr_yaQgU9-105&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;JapanTaxi&quot; tooltip=&quot;ASといろいろあったよ&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-105&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;259&quot; y=&quot;300&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;pacmod3&quot; link=&quot;http://wiki.ros.org/pacmod3&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-106&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;259&quot; y=&quot;220&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;YMC GolfCart&quot; tooltip=&quot;ゴルフカート！！&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-118&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#f5f5f5;strokeColor=#666666;fontColor=#333333;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-74&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;416&quot; y=&quot;300&quot; width=&quot;120&quot; height=&quot;40&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;object label=&quot;Sensing&quot; id=&quot;huNNO2pCuBcXr_yaQgU9-89&quot;&gt;&#xA;          &lt;mxCell style=&quot;locked=1;&quot; parent=&quot;0&quot; /&gt;&#xA; 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vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-730&quot; width=&quot;120&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-132&quot; value=&quot;top/rectified/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-133&quot; target=&quot;F5SEpTDf39VAK2Lenjye-140&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;fix_distortion&quot; tooltip=&quot;自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/distortion-corrector.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-133&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-410&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-134&quot; value=&quot;top/pointcloud_raw&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-135&quot; target=&quot;F5SEpTDf39VAK2Lenjye-137&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#xA;            &lt;mxPoint x=&quot;-1830&quot; y=&quot;-560&quot; as=&quot;targetPoint&quot; /&gt;&#xA;          &lt;/mxGeometry&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;packets_to_&amp;lt;br&amp;gt;pointcloud&quot; tooltip=&quot;velodyneのpacketをpointcloud型に変更する&quot; id=&quot;F5SEpTDf39VAK2Lenjye-135&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-620&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-136&quot; value=&quot;top/self_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-137&quot; target=&quot;F5SEpTDf39VAK2Lenjye-139&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_self&quot; tooltip=&quot;自車の領域内にある点群を除去する。&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-137&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-550&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;mxCell id=&quot;F5SEpTDf39VAK2Lenjye-138&quot; value=&quot;top/mirror_cropped/pointcloud&quot; style=&quot;edgeStyle=elbowEdgeStyle;rounded=0;comic=0;jumpStyle=arc;orthogonalLoop=1;jettySize=auto;elbow=vertical;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;startArrow=none;startFill=0;endArrow=classic;endFill=1;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; source=&quot;F5SEpTDf39VAK2Lenjye-139&quot; target=&quot;F5SEpTDf39VAK2Lenjye-133&quot; edge=&quot;1&quot;&gt;&#xA;          &lt;mxGeometry relative=&quot;1&quot; as=&quot;geometry&quot; /&gt;&#xA;        &lt;/mxCell&gt;&#xA;        &lt;UserObject label=&quot;crop_box_&amp;lt;br&amp;gt;filter_mirror&quot; tooltip=&quot;自車のサイドミラーの部分に当たった点群を除去する&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/crop-box-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-139&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-480&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA;        &lt;/UserObject&gt;&#xA;        &lt;UserObject label=&quot;ring_outlier_filter&quot; tooltip=&quot;点群のノイズ処理を行う&amp;#xa;（同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）&quot; link=&quot;https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md&quot; id=&quot;F5SEpTDf39VAK2Lenjye-140&quot;&gt;&#xA;          &lt;mxCell style=&quot;rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#e1d5e7;strokeColor=#9673a6;sketch=0;&quot; parent=&quot;huNNO2pCuBcXr_yaQgU9-89&quot; vertex=&quot;1&quot;&gt;&#xA;            &lt;mxGeometry x=&quot;-1890&quot; y=&quot;-340&quot; width=&quot;120&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#xA;          &lt;/mxCell&gt;&#xA; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 453px; margin-left: 1973px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">side_shift</div></div></div></foreignObject><text x="2032" y="457" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">side_shift</text></switch></g><rect x="1972" y="398" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all"><title>ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。</title></rect><g transform="translate(-0.5 -0.5)"><title>ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 413px; margin-left: 1973px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">pull_over/out</div></div></div></foreignObject><text x="2032" y="417" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">pull_over/out</text></switch></g><rect x="1972" y="358" width="120" height="30" rx="4.5" ry="4.5" fill="#fff2cc" stroke="#d6b656" pointer-events="all"><title>ルート情報や障害物情報をもとに、障害物回避を実行します。</title></rect><g transform="translate(-0.5 -0.5)"><title>ルート情報や障害物情報をもとに、障害物回避を実行します。</title><switch><foreignObject style="overflow: visible; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 1640px; margin-left: 2756px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Control</div></div></div></foreignObject><text x="2815" y="1644" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Control</text></switch></g><path d="M 2803 310 L 2803 430 L 2847 430 L 2847 443.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2847 448.88 L 2843.5 441.88 L 2847 443.63 L 2850.5 441.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 340px; margin-left: 2803px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: #ffe6cc; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 230, 204); white-space: nowrap;"><div> /control/trajectory_follower/lateral/control_cmd</div><div> [AckermannLateralControlCommand]</div><div><br /></div></div></div></div></foreignObject><text x="2803" y="343" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/lateral/control_cmd...</text></switch></g><path d="M 3002 310 L 3002 430 L 2847 430 L 2847 608.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2847 613.88 L 2843.5 606.88 L 2847 608.63 L 2850.5 606.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 565px; margin-left: 2849px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><div><span style="">/control/trajectory_follower/control_cmd</span></div><div><span style=""> [AckermannControlCommand]</span></div><div><span style=""><br /></span></div></div></div></div></foreignObject><text x="2849" y="568" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/trajectory_follower/control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/mpc_lateral_controller-design.md"><rect x="2743" y="270" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 290px; margin-left: 2744px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">lateral_controller</div></div></div></foreignObject><text x="2803" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lateral_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/blob/main/control/trajectory_follower/design/pid_longitudinal_controller-design.md"><rect x="2922" y="270" width="160" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title></rect><g transform="translate(-0.5 -0.5)"><title>経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 290px; margin-left: 2923px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">longitudinal_controller</div></div></div></foreignObject><text x="3002" y="294" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">longitudinal_controller</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate"><rect x="2562" y="705" width="680" height="60" rx="9" ry="9" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title></rect><g transform="translate(-0.5 -0.5)"><title>指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。</title><switch><foreignObject style="overflow: visible; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 810px; margin-left: 2812px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">control/command/control_cmd<br /> [AckermannControlCommand]</div></div></div></foreignObject><text x="2812" y="813" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">control/command/control_cmd...</text></switch></g><path d="M 2847 655 L 2847 660 L 2846.93 698.33" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2846.92 703.58 L 2843.43 696.58 L 2846.93 698.33 L 2850.43 696.59 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 676px; margin-left: 2847px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/control/shift_decider/gear_cmd<br />[GearCommand]</div></div></div></foreignObject><text x="2847" y="679" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/control/shift_decider/gear_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/shift_decider"><rect x="2787" y="615" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>制御出力に応じてギア変更のコマンドを出力します</title></rect><g transform="translate(-0.5 -0.5)"><title>制御出力に応じてギア変更のコマンドを出力します</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 635px; margin-left: 2788px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">shift_decider</div></div></div></foreignObject><text x="2847" y="639" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">shift_decider</text></switch></g></a><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/external_cmd_converter"><rect x="3342" y="360" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します</title></rect><g transform="translate(-0.5 -0.5)"><title>遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します</title><switch><foreignObject style="overflow: visible; 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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 570px; margin-left: 2642px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/diagnostics</div></div></div></foreignObject><text x="2642" y="573" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/diagnostics</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/lane_departure_checker"><rect x="2582" y="470" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"><title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title></rect><g transform="translate(-0.5 -0.5)"><title>MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）</title><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 490px; margin-left: 2583px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">lane_departure_<br />checker</div></div></div></foreignObject><text x="2642" y="494" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">lane_departure_...</text></switch></g></a><path d="M 2743 290 L 2642 290 L 2642 463.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 2642 468.88 L 2638.5 461.88 L 2642 463.63 L 2645.5 461.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 407px; margin-left: 2642px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFE6CC; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 230, 204); white-space: nowrap;">predicted_trajectory</div></div></div></foreignObject><text x="2642" y="411" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">predicted_trajectory</text></switch></g><path d="M 3402 290 L 3402 353.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3402 358.88 L 3398.5 351.88 L 3402 353.63 L 3405.5 351.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 325px; margin-left: 3402px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: rgb(255, 255, 255); "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;">/external/selected/external_control_cmd<br /> [tier4_external_api_msgs/msg/ControlCommandStamped]</div></div></div></foreignObject><text x="3402" y="328" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/external/selected/external_control_cmd...</text></switch></g><a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/control/external_cmd_selector"><rect x="3342" y="250" width="120" height="40" rx="6" ry="6" fill="#ffe6cc" stroke="#d79b00" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 270px; margin-left: 3343px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">external_cmd_<br />selector</div></div></div></foreignObject><text x="3402" y="274" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">external_cmd_...</text></switch></g></a><path d="M 3342 270 L 3148.17 270 L 3148.16 699.29" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3148.16 704.54 L 3144.66 697.54 L 3148.16 699.29 L 3151.66 697.54 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 600px; margin-left: 3163px;"><div style="box-sizing: border-box; font-size: 0px; text-align: center;" data-drawio-colors="color: rgb(0, 0, 0); background-color: #FFFFFF; "><div style="display: inline-block; font-size: 11px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; background-color: rgb(255, 255, 255); white-space: nowrap;"><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/control <br /></font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/ControlCommandStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/shift</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/GearShiftStamped]</font></div><div style="text-align: left"><font style="font-size: 11px">/api/external/set/command/remote/turn_signal</font></div><div style="text-align: left"><font style="font-size: 11px">   [tier4_external_api_msgs/msg/TurnSignalStamped]</font></div></div></div></div></foreignObject><text x="3163" y="604" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="11px" text-anchor="middle">/api/external/set/command/remote/control...</text></switch></g><path d="M 3402 400 L 3402 660 L 3205.33 660 L 3205.29 698.51" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 3205.28 703.76 L 3201.79 696.76 L 3205.29 698.51 L 3208.79 696.77 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; 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diff --git a/docs/design/autoware-interfaces/ad-api/features/cooperation.md b/docs/design/autoware-interfaces/ad-api/features/cooperation.md
new file mode 100644
index 00000000000..b094e41340f
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/features/cooperation.md
@@ -0,0 +1,94 @@
+# Cooperation
+
+## Related API
+
+- {{ link_ad_api('/api/planning/velocity_factors') }}
+- {{ link_ad_api('/api/planning/steering_factors') }}
+- {{ link_ad_api('/api/planning/cooperation/set_commands') }}
+- {{ link_ad_api('/api/planning/cooperation/set_policies') }}
+- {{ link_ad_api('/api/planning/cooperation/get_policies') }}
+
+## Description
+
+Request to cooperate (RTC) is a feature that enables a human operator to support the decision in autonomous driving mode.
+Autoware usually drives the vehicle using its own decisions, but the operator may prefer to make their decisions in experiments and complex situations.
+
+The planning component manages each situation that requires decision as a scene.
+Each scene has an ID that doesn't change until the scene is completed or canceled.
+The operator can override the decision of the target scene using this ID.
+In practice, the user interface application can hides the specification of the ID and provides an abstracted interface to the operator.
+
+For example, in the situation in the diagram below, vehicle is expected to make two lane changes and turning left at the intersection.
+Therefore the planning component generates three scene instances for each required action, and each scene instance will wait for the decision to be made, in this case "changing or keeping lane" and "turning left or waiting at the intersection".
+Here Autoware decides not to change lanes a second time due to the obstacle, so the vehicle will stop there.
+However, operator could overwrite that decision through RTC function and force the lane change so that vehicle could reach to it's goal.
+Using RTC, the operator can override these decisions to continue driving the vehicle to the goal.
+
+![cooperation-scenes](./cooperation/scenes.drawio.svg)
+
+## Architecture
+
+Modules that support RTC have the operator decision and cooperation policy in addition to the module decision as shown below.
+These modules use the merged decision that is determined by these values when planning vehicle behavior.
+See decisions section for details of these values.
+The cooperation policy is used when there is no operator decision and has a default value set by the system settings.
+If the module supports RTC, these information are available in [velocity factors or steering factors](./planning-factors.md) as [cooperation status](../types/autoware_adapi_v1_msgs/msg/CooperationStatus.md).
+
+![cooperation-architecture](./cooperation/architecture.drawio.svg)
+
+## Sequence
+
+This is an example sequence that overrides the scene decision to force a lane change. It is for the second scene in the diagram in the architecture section.
+Here let's assume the cooperation policy is set to optional, see the decisions section described later for details.
+
+1. A planning module creates a scene instance with unique ID when approaching a place where a lane change is needed.
+2. The scene instance generates the module decision from the current situation. In this case, the module decision is not to do a lane change due to the obstacle.
+3. The scene instance generates the merged decision. At this point, there is no operator decision yet, so it is based on the module decision.
+4. The scene instance plans the vehicle to keep the lane according to the merged decision.
+5. The scene instance sends a cooperation status.
+6. The operator receives the cooperation status.
+7. The operator sends a cooperation command to override the module decision and to do a lane change.
+8. The scene instance receives the cooperation command and update the operator decision.
+9. The scene instance updates the module decision from the current situation.
+10. The scene instance updates the merged decision. It is based on the operator decision received.
+11. The scene instance plans the vehicle to change the lane according to the merged decision.
+
+## Decisions
+
+The merged decision is determined by the module decision, operator decision, and cooperation policy, each of which takes the value shown in the table below.
+
+| Status             | Values                                 |
+| ------------------ | -------------------------------------- |
+| merged decision    | deactivate, activate                   |
+| module decision    | deactivate, activate                   |
+| operator decision  | deactivate, activate, autonomous, none |
+| cooperation policy | required, optional                     |
+
+The meanings of these values are as follows. Note that the cooperation policy is common per module, so changing it will affect all scenes in the same module.
+
+| Value      | Description                                                                                |
+| ---------- | ------------------------------------------------------------------------------------------ |
+| deactivate | An operator/module decision to plan vehicle behavior with priority on safety.              |
+| activate   | An operator/module decision to plan vehicle behavior with priority on driving.             |
+| autonomous | An operator decision that follows the module decision.                                     |
+| none       | An initial value for operator decision, indicating that there is no operator decision yet. |
+| required   | A policy that requires the operator decision to continue driving.                          |
+| optional   | A policy that does not require the operator decision to continue driving.                  |
+
+The following flow is how the merged decision is determined.
+
+![cooperation-decisions](./cooperation/decisions.drawio.svg)
+
+## Examples
+
+This is an example of cooperation for lane change module. The behaviors by the combination of decisions are as follows.
+
+| Operator decision | Policy   | Module decision | Description                                                                                                                     |
+| ----------------- | -------- | --------------- | ------------------------------------------------------------------------------------------------------------------------------- |
+| deactivate        | -        | -               | The operator instructs to keep lane regardless the module decision. So the vehicle keeps the lane by the operator decision.     |
+| activate          | -        | -               | The operator instructs to change lane regardless the module decision. So the vehicle changes the lane by the operator decision. |
+| autonomous        | -        | deactivate      | The operator instructs to follow the module decision. So the vehicle keeps the lane by the module decision.                     |
+| autonomous        | -        | activate        | The operator instructs to follow the module decision. So the vehicle changes the lane by the module decision.                   |
+| none              | required | -               | The required policy is used because no operator instruction. So the vehicle keeps the lane by the cooperation policy.           |
+| none              | optional | deactivate      | The optional policy is used because no operator instruction. So the vehicle keeps the lane by the module decision.              |
+| none              | optional | activate        | The optional policy is used because no operator instruction. So the vehicle change the lane by the module decision.             |
diff --git a/docs/design/autoware-interfaces/ad-api/features/cooperation/architecture.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/cooperation/architecture.drawio.svg
new file mode 100644
index 00000000000..77f18865950
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+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                operator
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="720" y="164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
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+                </text>
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+        <rect x="570" y="240" width="100" height="30" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 255px; margin-left: 571px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                cooperation status
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="620" y="259" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    cooperation stat...
+                </text>
+            </switch>
+        </g>
+        <path d="M 460 180 L 460 200 L 460 213.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 460 218.88 L 456.5 211.88 L 460 213.63 L 463.5 211.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="400" y="140" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 160px; margin-left: 401px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                operator decision
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="460" y="164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    operator decision
+                </text>
+            </switch>
+        </g>
+        <path d="M 260 180 L 260 210 L 260 213.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 260 218.88 L 256.5 211.88 L 260 213.63 L 263.5 211.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="200" y="140" width="120" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 160px; margin-left: 201px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                module decision
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="260" y="164" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    module decision
+                </text>
+            </switch>
+        </g>
+        <path d="M 80 40 L 153.63 40" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 158.88 40 L 151.88 43.5 L 153.63 40 L 151.88 36.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="0" y="20" width="80" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 40px; margin-left: 1px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                system
+                                <br/>
+                                settings
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="40" y="44" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    system...
+                </text>
+            </switch>
+        </g>
+        <rect x="100" y="40" width="40" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 50px; margin-left: 101px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                init
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="120" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    init
+                </text>
+            </switch>
+        </g>
+        <rect x="570" y="160" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 170px; margin-left: 571px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                set decision
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="620" y="174" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    set decision
+                </text>
+            </switch>
+        </g>
+        <rect x="570" y="40" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 98px; height: 1px; padding-top: 50px; margin-left: 571px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                set policy
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="620" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    set policy
+                </text>
+            </switch>
+        </g>
+        <rect x="160" y="0" width="160" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 158px; height: 1px; padding-top: 10px; margin-left: 162px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                for each scene class
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="162" y="14" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    for each scene class
+                </text>
+            </switch>
+        </g>
+        <rect x="160" y="80" width="160" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 158px; height: 1px; padding-top: 90px; margin-left: 162px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                for each scene instance
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="162" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    for each scene instance
+                </text>
+            </switch>
+        </g>
+    </g>
+    <switch>
+        <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+        <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
+            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
+                Text is not SVG - cannot display
+            </text>
+        </a>
+    </switch>
+</svg>
\ No newline at end of file
diff --git a/docs/design/autoware-interfaces/ad-api/features/cooperation/decisions.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/cooperation/decisions.drawio.svg
new file mode 100644
index 00000000000..14ce9fee5f4
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/features/cooperation/decisions.drawio.svg
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+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 261px; margin-left: 580px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                                Check the cooperation policy.
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="580" y="265" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    Check the cooperation policy.
+                </text>
+            </switch>
+        </g>
+        <rect x="940" y="211" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 93px; height: 1px; padding-top: 221px; margin-left: 947px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                [autonomous]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="947" y="225" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    [autonomous]
+                </text>
+            </switch>
+        </g>
+        <path d="M 580 521 L 580 594.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 580 599.88 L 576.5 592.88 L 580 594.63 L 583.5 592.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="480" y="481" width="200" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 501px; margin-left: 580px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                                The merged decision is deactivate
+                                <br/>
+                                by the cooperation policy.
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="580" y="505" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    The merged decision is deactivate...
+                </text>
+            </switch>
+        </g>
+        <rect x="690" y="321" width="60" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 331px; margin-left: 691px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                [optional]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="720" y="335" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    [optional]
+                </text>
+            </switch>
+        </g>
+        <path d="M 340.06 521 L 340.06 561.06 L 580.06 561.06 L 580.06 594.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 580.06 599.88 L 576.56 592.88 L 580.06 594.63 L 583.56 592.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="240" y="481" width="200" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 501px; margin-left: 340px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                                The merged decision is activate
+                                <br/>
+                                by the operator decision.
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="340" y="505" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    The merged decision is activate...
+                </text>
+            </switch>
+        </g>
+        <path d="M 580 361 L 580 474.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 580 479.88 L 576.5 472.88 L 580 474.63 L 583.5 472.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 600 341 L 833.63 341" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 838.88 341 L 831.88 344.5 L 833.63 341 L 831.88 337.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 580 321 L 600 341 L 580 361 L 560 341 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="580" y="211" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 93px; height: 1px; padding-top: 221px; margin-left: 587px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                [none]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="587" y="225" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    [none]
+                </text>
+            </switch>
+        </g>
+        <rect x="100" y="211" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 93px; height: 1px; padding-top: 221px; margin-left: 107px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                [deactivate]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="107" y="225" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    [deactivate]
+                </text>
+            </switch>
+        </g>
+        <rect x="340" y="211" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 93px; height: 1px; padding-top: 221px; margin-left: 347px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                [activate]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="347" y="225" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    [activate]
+                </text>
+            </switch>
+        </g>
+        <rect x="580" y="371" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 93px; height: 1px; padding-top: 381px; margin-left: 587px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <span style="text-align: center;">
+                                    [required]
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="587" y="385" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    [required]
+                </text>
+            </switch>
+        </g>
+        <rect x="1060" y="441" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 93px; height: 1px; padding-top: 451px; margin-left: 1067px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                [deactivate]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1067" y="455" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    [deactivate]
+                </text>
+            </switch>
+        </g>
+        <path d="M 940 361 L 940 394.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 940 399.88 L 936.5 392.88 L 940 394.63 L 943.5 392.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="840" y="321" width="200" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 341px; margin-left: 940px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                                Check the module decision.
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="940" y="345" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    Check the module decision.
+                </text>
+            </switch>
+        </g>
+        <path d="M 920.06 421.06 L 820.06 421.06 L 820.06 474.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 820.06 479.88 L 816.56 472.88 L 820.06 474.63 L 823.56 472.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 959.94 421.06 L 1060.06 421.06 L 1060.06 474.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 1060.06 479.88 L 1056.56 472.88 L 1060.06 474.63 L 1063.56 472.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 940 401 L 960 421 L 940 441 L 920 421 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 820.06 521 L 820.06 561.06 L 580.06 561.06 L 580.06 594.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 580.06 599.88 L 576.56 592.88 L 580.06 594.63 L 583.56 592.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="720" y="481" width="200" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 501px; margin-left: 820px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                                The merged decision is activate
+                                <br style="border-color: var(--border-color);"/>
+                                by the module decision.
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="820" y="505" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    The merged decision is activate...
+                </text>
+            </switch>
+        </g>
+        <path d="M 1060.06 521 L 1060.06 561.06 L 580.06 561.06 L 580.06 594.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 580.06 599.88 L 576.56 592.88 L 580.06 594.63 L 583.56 592.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="960" y="481" width="200" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 501px; margin-left: 1060px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                                The merged decision is deactivate
+                                <br style="border-color: var(--border-color);"/>
+                                by the module decision.
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="1060" y="505" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    The merged decision is deactivate...
+                </text>
+            </switch>
+        </g>
+        <path d="M 100.06 521 L 100.06 561.06 L 580.06 561.06 L 580.06 594.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 580.06 599.88 L 576.56 592.88 L 580.06 594.63 L 583.56 592.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <rect x="0" y="481" width="200" height="40" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 501px; margin-left: 100px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: nowrap;">
+                                The merged decision is deactivate
+                                <br/>
+                                by the operator decision.
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="100" y="505" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    The merged decision is deactivate...
+                </text>
+            </switch>
+        </g>
+        <rect x="820" y="441" width="100" height="20" fill="none" stroke="none" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 93px; height: 1px; padding-top: 451px; margin-left: 827px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                [activate]
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="827" y="455" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">
+                    [activate]
+                </text>
+            </switch>
+        </g>
+    </g>
+    <switch>
+        <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+        <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
+            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
+                Text is not SVG - cannot display
+            </text>
+        </a>
+    </switch>
+</svg>
\ No newline at end of file
diff --git a/docs/design/autoware-interfaces/ad-api/features/cooperation/scenes.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/cooperation/scenes.drawio.svg
new file mode 100644
index 00000000000..9b813850ed5
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/features/cooperation/scenes.drawio.svg
@@ -0,0 +1,140 @@
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+        <path d="M 921 40 L 921 120" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="6 6" pointer-events="stroke"/>
+        <path d="M 1001 40 L 1001 120" fill="none" stroke="rgb(0, 0, 0)" stroke-width="3" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 1001 200 L 1081 200" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="6 6" pointer-events="stroke"/>
+        <path d="M 1081 120 L 1001 120" fill="none" stroke="rgb(0, 0, 0)" stroke-width="3" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 881 160 L 881 46.37" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 881 41.12 L 884.5 48.12 L 881 46.37 L 877.5 48.12 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 801 270 L 801 210" fill="none" stroke="#000000" stroke-width="3" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 801 190 L 801 130" fill="none" stroke="#000000" stroke-width="3" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 881 160 L 801 160" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <rect x="341" y="140" width="180" height="40" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 178px; height: 1px; padding-top: 160px; margin-left: 342px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                obstacle
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="431" y="164" fill="#333333" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    obstacle
+                </text>
+            </switch>
+        </g>
+        <path d="M 161 159.58 L 314.63 159.98" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 319.88 160 L 312.87 163.48 L 314.63 159.98 L 312.89 156.48 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 601 160 L 561 240" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 601 159.58 L 794.63 159.99" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <path d="M 799.88 160 L 792.87 163.48 L 794.63 159.99 L 792.89 156.48 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/>
+        <path d="M 221 30 L 251 30 Q 261 30 261 40 L 261 100" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <rect x="81" y="0" width="140" height="60" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 133px; height: 1px; padding-top: 30px; margin-left: 88px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                <div>
+                                    Scene ID: 1234
+                                </div>
+                                <div>
+                                    Behavior: lane-change
+                                </div>
+                                <div>
+                                    Decision: activate
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="88" y="34" fill="#333333" font-family="Helvetica" font-size="12px">
+                    Scene ID: 1234...
+                </text>
+            </switch>
+        </g>
+        <path d="M 541 30 L 571 30 Q 581 30 581 40 L 581 100" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <rect x="401" y="0" width="140" height="60" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 133px; height: 1px; padding-top: 30px; margin-left: 408px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                Scene ID
+                                <span style="background-color: initial;">
+                                    : 5678
+                                </span>
+                                <br/>
+                                <div>
+                                    Behavior: lane-change
+                                </div>
+                                <div>
+                                    Decision: deactivate
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="408" y="34" fill="#333333" font-family="Helvetica" font-size="12px">
+                    Scene ID: 5678...
+                </text>
+            </switch>
+        </g>
+        <path d="M 781 30 L 801 30 Q 811 30 811 40 L 811 100" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/>
+        <rect x="641" y="0" width="140" height="60" fill="#f5f5f5" stroke="#666666" pointer-events="all"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 133px; height: 1px; padding-top: 30px; margin-left: 648px;">
+                        <div data-drawio-colors="color: #333333; " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(51, 51, 51); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
+                                Scene ID
+                                <span style="background-color: initial;">
+                                    : ABCD
+                                </span>
+                                <br/>
+                                <div>
+                                    Behavior: intersection
+                                </div>
+                                <div>
+                                    Decision: activate
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="648" y="34" fill="#333333" font-family="Helvetica" font-size="12px">
+                    Scene ID: ABCD...
+                </text>
+            </switch>
+        </g>
+    </g>
+    <switch>
+        <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+        <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
+            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
+                Text is not SVG - cannot display
+            </text>
+        </a>
+    </switch>
+</svg>
\ No newline at end of file
diff --git a/docs/design/autoware-interfaces/ad-api/features/planning-factors.md b/docs/design/autoware-interfaces/ad-api/features/planning-factors.md
index eff614ae230..d595448687f 100644
--- a/docs/design/autoware-interfaces/ad-api/features/planning-factors.md
+++ b/docs/design/autoware-interfaces/ad-api/features/planning-factors.md
@@ -12,59 +12,58 @@ Applications can notify the vehicle behavior to the people around and visualize
 
 ## Velocity factors
 
-The velocity factors is an array of information on the behavior that the vehicle stops (or slows down).
-Each factor has a type shown below, pose in the base link, distance, status, and detailed data depending on its type.
+The velocity factors is an array of information on the behavior that the vehicle stops or slows down.
+Each factor has a behavior type which is described below.
+Some behavior types have sequence and details as additional information.
+
+| Behavior                    | Description                                                                         |
+| --------------------------- | ----------------------------------------------------------------------------------- |
+| surrounding-obstacle        | There are obstacles immediately around the vehicle.                                 |
+| route-obstacle              | There are obstacles along the route ahead.                                          |
+| intersection                | There are obstacles in other lanes in the path.                                     |
+| crosswalk                   | There are obstacles on the crosswalk.                                               |
+| rear-check                  | There are obstacles behind that would be in a human driver's blind spot.            |
+| user-defined-attention-area | There are obstacles in the predefined attention area.                               |
+| no-stopping-area            | There is not enough space beyond the no stopping area.                              |
+| stop-sign                   | A stop by a stop sign.                                                              |
+| traffic-signal              | A stop by a traffic signal.                                                         |
+| v2x-gate-area               | A stop by a gate area. It has enter and leave as sequences and v2x type as details. |
+| merge                       | A stop before merging lanes.                                                        |
+| sidewalk                    | A stop before crossing the sidewalk.                                                |
+| lane-change                 | A lane change.                                                                      |
+| avoidance                   | A path change to avoid an obstacle in the current lane.                             |
+| emergency-operation         | A stop by emergency instruction from the operator.                                  |
+
+Each factor also provides status, poses in the base link frame, and distance from that pose.
 As the vehicle approaches the stop position, this factor appears with a status of APPROACHING.
 And when the vehicle reaches that position and stops, the status will be STOPPED.
-The pose indicates the stop position or the base link if the stop position cannot be calculated.
+The pose indicates the stop position, or the base link if the stop position cannot be calculated.
 
 ![velocity-factors](./planning-factors/velocity-factors.drawio.svg)
 
-| Factor Type                 | Description                                                              |
-| --------------------------- | ------------------------------------------------------------------------ |
-| SURROUNDING_OBSTACLE        | There are obstacles immediately around the vehicle.                      |
-| ROUTE_OBSTACLE              | There are obstacles along the route ahead.                               |
-| INTERSECTION                | There are obstacles in other lanes in the path.                          |
-| CROSSWALK                   | There are obstacles on the crosswalk.                                    |
-| REAR_CHECK                  | There are obstacles behind that would be in a human driver's blind spot. |
-| USER_DEFINED_DETECTION_AREA | There are obstacles in the predefined detection area.                    |
-| NO_STOPPING_AREA            | There is not enough space beyond the no stopping area.                   |
-| STOP_SIGN                   | A stop by a stop sign.                                                   |
-| TRAFFIC_SIGNAL              | A stop by a traffic signal.                                              |
-| V2I_GATE_CONTROL_ENTER      | A stop by a V2I gate entering.                                           |
-| V2I_GATE_CONTROL_LEAVE      | A stop by a V2I gate leaving.                                            |
-| MERGE                       | A stop before merging lanes.                                             |
-| SIDEWALK                    | A stop before crossing the sidewalk.                                     |
-| LANE_CHANGE                 | A lane change.                                                           |
-| AVOIDANCE                   | A path change to avoid an obstacle in the current lane.                  |
-| EMERGENCY_OPERATION         | A stop by emergency instruction from the operator.                       |
-
 ## Steering factors
 
 The steering factors is an array of information on the maneuver that requires use of turn indicators, such as turning left or right.
-Each factor has a type shown below, pose in the base link, distance, status, and detailed data depending on its type.
+Each factor has a behavior type which is described below and steering direction.
+Some behavior types have sequence and details as additional information.
+
+| Behavior            | Description                                                                 |
+| ------------------- | --------------------------------------------------------------------------- |
+| intersection        | A turning left or right at an intersection.                                 |
+| lane-change         | A lane change.                                                              |
+| avoidance           | A path change to avoid an obstacle. It has a sequence of change and return. |
+| start-planner       | T.B.D.                                                                      |
+| goal-planner        | T.B.D.                                                                      |
+| emergency-operation | A path change by emergency instruction from the operator.                   |
+
+Each factor also provides status, poses in the base link frame, and distances from that poses.
 As the vehicle approaches the position to start steering, this factor appears with a status of APPROACHING.
 And when the vehicle reaches that position, the status will be TURNING.
-The pose indicates the start position when APPROACHING and the end position when TURNING.
+The poses indicate the start and end position of the section where the status is TURNING.
 
 ![steering-factors-1](./planning-factors/steering-factors-1.drawio.svg)
 
 In cases such as lane change and avoidance, the vehicle will start steering at any position in the range depending on the situation.
-As the vehicle approaches the start position of the range, this factor appears with a status of APPROACHING.
-And when the vehicle reaches that position, the status will be TRYING.
-Then, when it is possible, the vehicle will start steering and the status will be TURNING.
-The pose indicates the start of the range (A) when APPROACHING and the end of the range (B) when TRYING.
-The position to end steering (C to D) for TURNING depends on the position to start steering.
+For these types, the section where the status is TURNING will be updated dynamically and the poses will follow that.
 
 ![steering-factors-2](./planning-factors/steering-factors-2.drawio.svg)
-
-| Factor Type           | Description                                                              |
-| --------------------- | ------------------------------------------------------------------------ |
-| INTERSECTION          | A turning left or right at an intersection.                              |
-| LANE_CHANGE           | A lane change.                                                           |
-| AVOIDANCE_PATH_CHANGE | A path change to avoid an obstacle in the current lane.                  |
-| AVOIDANCE_PATH_RETURN | A path change to return to the original lane after avoiding an obstacle. |
-| STATION               | T.B.D. (bus stop)                                                        |
-| PULL_OUT              | T.B.D.                                                                   |
-| PULL_OVER             | T.B.D.                                                                   |
-| EMERGENCY_OPERATION   | A path change by emergency instruction from the operator.                |
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index a47339dbf64..b5c1d2eb3f3 100644
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-                                B
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="471" y="149" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    B
-                </text>
-            </switch>
-        </g>
-        <rect x="421" y="210" width="20" height="30" fill="none" stroke="none" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
-            <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 18px; height: 1px; padding-top: 225px; margin-left: 422px;">
-                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
-                                C
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="431" y="229" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    C
-                </text>
-            </switch>
-        </g>
-        <rect x="581" y="210" width="20" height="30" fill="none" stroke="none" pointer-events="all"/>
-        <g transform="translate(-0.5 -0.5)">
-            <switch>
-                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
-                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 18px; height: 1px; padding-top: 225px; margin-left: 582px;">
-                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;">
-                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">
-                                D
-                            </div>
-                        </div>
-                    </div>
-                </foreignObject>
-                <text x="591" y="229" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
-                    D
-                </text>
-            </switch>
-        </g>
     </g>
     <switch>
         <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
         <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
             <text text-anchor="middle" font-size="10px" x="50%" y="100%">
-                Viewer does not support full SVG 1.1
+                Text is not SVG - cannot display
             </text>
         </a>
     </switch>
diff --git a/docs/design/autoware-interfaces/ad-api/index.md b/docs/design/autoware-interfaces/ad-api/index.md
index d530255f586..35d60d980fb 100644
--- a/docs/design/autoware-interfaces/ad-api/index.md
+++ b/docs/design/autoware-interfaces/ad-api/index.md
@@ -25,7 +25,7 @@ Service providers can combine these use cases to define user stories and check i
 - [Drive to the designated position](./use-cases/drive-designated-position.md)
 - [Get on and get off](./use-cases/get-on-off.md)
 - [Vehicle monitoring](./use-cases/vehicle-monitoring.md)
-- [Request to cooperate](./use-cases/request-to-cooperate.md)
+- [Vehicle operation](./use-cases/vehicle-operation.md)
 
 ## Features
 
@@ -39,3 +39,4 @@ Service providers can combine these use cases to define user stories and check i
 - [Fail-safe](./features/fail-safe.md)
 - [Vehicle status](./features/vehicle-status.md)
 - [Vehicle doors](./features/vehicle-doors.md)
+- [Cooperation](./features/cooperation.md)
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/get_policies.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/get_policies.md
new file mode 100644
index 00000000000..6ffce00a8a1
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/get_policies.md
@@ -0,0 +1,22 @@
+---
+title: /api/planning/cooperation/get_policies
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/GetCooperationPolicies
+  res:
+    - name: status
+      text: response status
+    - name: policies.behavior
+      text: The type of the target behavior.
+    - name: policies.sequence
+      text: The type of the target sequence.
+    - name: policies.policy
+      text: The type of the cooporation policy.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Get the default decision that is used instead when the operator's decision is undecided.
+For details, see the [cooperation](../../../../features/cooperation.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/set_commands.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/set_commands.md
new file mode 100644
index 00000000000..bcca69658ed
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/set_commands.md
@@ -0,0 +1,21 @@
+---
+title: /api/planning/cooperation/set_commands
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/SetCooperationCommands
+  req:
+    - name: commands.uuid
+      text: The ID in the cooperation status.
+    - name: commands.cooperator
+      text: The operator's decision.
+  res:
+    - name: status
+      text: response status
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Set the operator's decision for cooperation.
+For details, see the [cooperation](../../../../features/cooperation.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/set_policies.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/set_policies.md
new file mode 100644
index 00000000000..463bf6af96c
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/cooperation/set_policies.md
@@ -0,0 +1,23 @@
+---
+title: /api/planning/cooperation/set_policies
+status: not released
+method: function call
+type:
+  name: autoware_adapi_v1_msgs/srv/SetCooperationPolicies
+  req:
+    - name: policies.behavior
+      text: The type of the target behavior.
+    - name: policies.sequence
+      text: The type of the target sequence.
+    - name: policies.policy
+      text: The type of the cooporation policy.
+  res:
+    - name: status
+      text: response status
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Set the default decision that is used instead when the operator's decision is undecided.
+For details, see the [cooperation](../../../../features/cooperation.md).
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md
index 55afd3720b0..b5d0970e88a 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md
@@ -9,14 +9,18 @@ type:
       text: The base link pose related to the steering factor.
     - name: factors.distance
       text: The distance from the base link to the above pose.
-    - name: factors.type
-      text: The type of the steering factor.
     - name: factors.direction
       text: The direction of the steering factor.
     - name: factors.status
       text: The status of the steering factor.
+    - name: factors.behavior
+      text: The behavior type of the steering factor.
+    - name: factors.sequence
+      text: The sequence type of the steering factor.
     - name: factors.detail
       text: The additional information of the steering factor.
+    - name: factors.cooperation
+      text: The cooperation status if the module supports.
 ---
 
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md
index 8758e6016e5..8889cbb69cf 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md
@@ -9,12 +9,16 @@ type:
       text: The base link pose related to the velocity factor.
     - name: factors.distance
       text: The distance from the base link to the above pose.
-    - name: factors.type
-      text: The type of the velocity factor.
     - name: factors.status
       text: The status of the velocity factor.
+    - name: factors.behavior
+      text: The behavior type of the velocity factor.
+    - name: factors.sequence
+      text: The sequence type of the velocity factor.
     - name: factors.detail
       text: The additional information of the velocity factor.
+    - name: factors.cooperation
+      text: The cooperation status if the module supports.
 ---
 
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md
index 9005e34f5ad..a95a73b670b 100644
--- a/docs/design/autoware-interfaces/ad-api/list/index.md
+++ b/docs/design/autoware-interfaces/ad-api/list/index.md
@@ -14,6 +14,9 @@
 - [/api/operation_mode/enable_autoware_control](./api/operation_mode/enable_autoware_control.md)
 - [/api/operation_mode/state](./api/operation_mode/state.md)
 - [/api/perception/objects](./api/perception/objects.md)
+- [/api/planning/cooperation/get_policies](./api/planning/cooperation/get_policies.md)
+- [/api/planning/cooperation/set_commands](./api/planning/cooperation/set_commands.md)
+- [/api/planning/cooperation/set_policies](./api/planning/cooperation/set_policies.md)
 - [/api/planning/steering_factors](./api/planning/steering_factors.md)
 - [/api/planning/velocity_factors](./api/planning/velocity_factors.md)
 - [/api/routing/clear_route](./api/routing/clear_route.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationCommand.md
new file mode 100644
index 00000000000..c088129687d
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationCommand.md
@@ -0,0 +1,18 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/CooperationCommand
+used:
+  - autoware_adapi_v1_msgs/srv/SetCooperationCommands
+uses:
+  - autoware_adapi_v1_msgs/msg/CooperationDecision
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+unique_identifier_msgs/UUID uuid
+autoware_adapi_v1_msgs/CooperationDecision cooperator
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationDecision.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationDecision.md
new file mode 100644
index 00000000000..1725dd81f79
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationDecision.md
@@ -0,0 +1,22 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/CooperationDecision
+used:
+  - autoware_adapi_v1_msgs/msg/CooperationCommand
+  - autoware_adapi_v1_msgs/msg/CooperationStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+uint8 UNKNOWN = 0
+uint8 DEACTIVATE = 1
+uint8 ACTIVATE = 2
+uint8 AUTONOMOUS = 3
+uint8 UNDECIDED = 4
+
+uint8 decision
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationPolicy.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationPolicy.md
new file mode 100644
index 00000000000..58bfbc9ae8d
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationPolicy.md
@@ -0,0 +1,21 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/CooperationPolicy
+used:
+  - autoware_adapi_v1_msgs/srv/GetCooperationPolicies
+  - autoware_adapi_v1_msgs/srv/SetCooperationPolicies
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+uint8 OPTIONAL = 1
+uint8 REQUIRED = 2
+
+string behavior
+string sequence
+uint8 policy
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationStatus.md
new file mode 100644
index 00000000000..eee513f2c67
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/CooperationStatus.md
@@ -0,0 +1,21 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/CooperationStatus
+used:
+  - autoware_adapi_v1_msgs/msg/SteeringFactor
+  - autoware_adapi_v1_msgs/msg/VelocityFactor
+uses:
+  - autoware_adapi_v1_msgs/msg/CooperationDecision
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+unique_identifier_msgs/UUID uuid
+autoware_adapi_v1_msgs/CooperationDecision autonomous
+autoware_adapi_v1_msgs/CooperationDecision cooperator
+bool cancellable
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md
index 9918fa9323a..7a2b8f31505 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md
@@ -5,9 +5,12 @@ used:
   - autoware_adapi_v1_msgs/srv/AcceptStart
   - autoware_adapi_v1_msgs/srv/ChangeOperationMode
   - autoware_adapi_v1_msgs/srv/ClearRoute
+  - autoware_adapi_v1_msgs/srv/GetCooperationPolicies
   - autoware_adapi_v1_msgs/srv/GetDoorLayout
   - autoware_adapi_v1_msgs/srv/GetVehicleDimensions
   - autoware_adapi_v1_msgs/srv/InitializeLocalization
+  - autoware_adapi_v1_msgs/srv/SetCooperationCommands
+  - autoware_adapi_v1_msgs/srv/SetCooperationPolicies
   - autoware_adapi_v1_msgs/srv/SetDoorCommand
   - autoware_adapi_v1_msgs/srv/SetRoute
   - autoware_adapi_v1_msgs/srv/SetRoutePoints
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactor.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactor.md
index 1b35ddeb8a3..907033274ab 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactor.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactor.md
@@ -3,6 +3,8 @@
 title: autoware_adapi_v1_msgs/msg/SteeringFactor
 used:
   - autoware_adapi_v1_msgs/msg/SteeringFactorArray
+uses:
+  - autoware_adapi_v1_msgs/msg/CooperationStatus
 ---
 
 {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
@@ -12,18 +14,6 @@ used:
 # constants for common use
 uint16 UNKNOWN = 0
 
-# constants for type
-uint16 INTERSECTION = 1
-uint16 LANE_CHANGE = 2
-uint16 AVOIDANCE_PATH_CHANGE = 3
-uint16 AVOIDANCE_PATH_RETURN = 4
-uint16 STATION = 5
-uint16 PULL_OUT = 6 # Deprecated. Use START_PLANNER.
-uint16 START_PLANNER = 6
-uint16 PULL_OVER = 7  # Deprecated. Use GOAL_PLANNER.
-uint16 GOAL_PLANNER = 7
-uint16 EMERGENCY_OPERATION = 8
-
 # constants for direction
 uint16 LEFT = 1
 uint16 RIGHT = 2
@@ -31,16 +21,37 @@ uint16 STRAIGHT = 3
 
 # constants for status
 uint16 APPROACHING = 1
-uint16 TRYING = 2
 uint16 TURNING = 3
 
 # variables
 geometry_msgs/Pose[2] pose
 float32[2] distance
-uint16 type
 uint16 direction
 uint16 status
+string behavior
+string sequence
 string detail
+autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation
+
+
+
+# deprecated constants for type
+uint16 INTERSECTION = 1
+uint16 LANE_CHANGE = 2
+uint16 AVOIDANCE_PATH_CHANGE = 3
+uint16 AVOIDANCE_PATH_RETURN = 4
+uint16 STATION = 5
+uint16 PULL_OUT = 6 # Deprecated. Use START_PLANNER.
+uint16 START_PLANNER = 6
+uint16 PULL_OVER = 7  # Deprecated. Use GOAL_PLANNER.
+uint16 GOAL_PLANNER = 7
+uint16 EMERGENCY_OPERATION = 8
+
+# deprecated constants for status
+uint16 TRYING = 2
+
+# deprecated variables
+uint16 type
 ```
 
 {% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md
index 7cb4125992f..8749fcd7b0f 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md
@@ -3,6 +3,8 @@
 title: autoware_adapi_v1_msgs/msg/VelocityFactor
 used:
   - autoware_adapi_v1_msgs/msg/VelocityFactorArray
+uses:
+  - autoware_adapi_v1_msgs/msg/CooperationStatus
 ---
 
 {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
@@ -12,7 +14,22 @@ used:
 # constants for common use
 uint16 UNKNOWN = 0
 
-# constants for type
+# constants for status
+uint16 APPROACHING = 1
+uint16 STOPPED = 2
+
+# variables
+geometry_msgs/Pose pose
+float32 distance
+uint16 status
+string behavior
+string sequence
+string detail
+autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation
+
+
+
+# deprecated constants for type
 uint16 SURROUNDING_OBSTACLE = 1
 uint16 ROUTE_OBSTACLE = 2
 uint16 INTERSECTION = 3
@@ -31,16 +48,8 @@ uint16 AVOIDANCE = 15
 uint16 EMERGENCY_STOP_OPERATION = 16
 uint16 NO_DRIVABLE_LANE = 17
 
-# constants for status
-uint16 APPROACHING = 1
-uint16 STOPPED = 2
-
-# variables
-geometry_msgs/Pose pose
-float32 distance
+# deprecated variables
 uint16 type
-uint16 status
-string detail
 ```
 
 {% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetCooperationPolicies.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetCooperationPolicies.md
new file mode 100644
index 00000000000..e6cc04266b2
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetCooperationPolicies.md
@@ -0,0 +1,18 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/srv/GetCooperationPolicies
+uses:
+  - autoware_adapi_v1_msgs/msg/CooperationPolicy
+  - autoware_adapi_v1_msgs/msg/ResponseStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+autoware_adapi_v1_msgs/CooperationPolicy[] policies
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetCooperationCommands.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetCooperationCommands.md
new file mode 100644
index 00000000000..be9e777245a
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetCooperationCommands.md
@@ -0,0 +1,18 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/srv/SetCooperationCommands
+uses:
+  - autoware_adapi_v1_msgs/msg/CooperationCommand
+  - autoware_adapi_v1_msgs/msg/ResponseStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+autoware_adapi_v1_msgs/CooperationCommand[] commands
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md
new file mode 100644
index 00000000000..b25068edd9a
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md
@@ -0,0 +1,18 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/srv/SetCooperationPolicies
+uses:
+  - autoware_adapi_v1_msgs/msg/CooperationPolicy
+  - autoware_adapi_v1_msgs/msg/ResponseStatus
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+autoware_adapi_v1_msgs/CooperationPolicy[] policies
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+{% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md
index fc2a043a3ac..c620381a216 100644
--- a/docs/design/autoware-interfaces/ad-api/types/index.md
+++ b/docs/design/autoware-interfaces/ad-api/types/index.md
@@ -1,5 +1,9 @@
 # Types of Autoware AD API
 
+- [autoware_adapi_v1_msgs/msg/CooperationCommand](./autoware_adapi_v1_msgs/msg/CooperationCommand.md)
+- [autoware_adapi_v1_msgs/msg/CooperationDecision](./autoware_adapi_v1_msgs/msg/CooperationDecision.md)
+- [autoware_adapi_v1_msgs/msg/CooperationPolicy](./autoware_adapi_v1_msgs/msg/CooperationPolicy.md)
+- [autoware_adapi_v1_msgs/msg/CooperationStatus](./autoware_adapi_v1_msgs/msg/CooperationStatus.md)
 - [autoware_adapi_v1_msgs/msg/DoorCommand](./autoware_adapi_v1_msgs/msg/DoorCommand.md)
 - [autoware_adapi_v1_msgs/msg/DoorLayout](./autoware_adapi_v1_msgs/msg/DoorLayout.md)
 - [autoware_adapi_v1_msgs/msg/DoorStatus](./autoware_adapi_v1_msgs/msg/DoorStatus.md)
@@ -33,9 +37,12 @@
 - [autoware_adapi_v1_msgs/srv/AcceptStart](./autoware_adapi_v1_msgs/srv/AcceptStart.md)
 - [autoware_adapi_v1_msgs/srv/ChangeOperationMode](./autoware_adapi_v1_msgs/srv/ChangeOperationMode.md)
 - [autoware_adapi_v1_msgs/srv/ClearRoute](./autoware_adapi_v1_msgs/srv/ClearRoute.md)
+- [autoware_adapi_v1_msgs/srv/GetCooperationPolicies](./autoware_adapi_v1_msgs/srv/GetCooperationPolicies.md)
 - [autoware_adapi_v1_msgs/srv/GetDoorLayout](./autoware_adapi_v1_msgs/srv/GetDoorLayout.md)
 - [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](./autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md)
 - [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md)
+- [autoware_adapi_v1_msgs/srv/SetCooperationCommands](./autoware_adapi_v1_msgs/srv/SetCooperationCommands.md)
+- [autoware_adapi_v1_msgs/srv/SetCooperationPolicies](./autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md)
 - [autoware_adapi_v1_msgs/srv/SetDoorCommand](./autoware_adapi_v1_msgs/srv/SetDoorCommand.md)
 - [autoware_adapi_v1_msgs/srv/SetRoute](./autoware_adapi_v1_msgs/srv/SetRoute.md)
 - [autoware_adapi_v1_msgs/srv/SetRoutePoints](./autoware_adapi_v1_msgs/srv/SetRoutePoints.md)
diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md b/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md
deleted file mode 100644
index 7b0dc2385d3..00000000000
--- a/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md
+++ /dev/null
@@ -1,7 +0,0 @@
-# Request to cooperate
-
-!!! warning
-
-    Under Construction
-
-AD API supports operator cooperation for vehicle decisions.
diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-operation.md b/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-operation.md
new file mode 100644
index 00000000000..4cfb7b2639e
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-operation.md
@@ -0,0 +1,14 @@
+# Vehicle operation
+
+## Request to intervene
+
+Request to intervene (RTI) is a feature that requires the operator to switch to manual driving mode. It is also called Take Over Request (TOR).
+Interfaces for RTI are currently being discussed. For now assume that manual driving is requested if the MRM state is not NORMAL.
+See [fail-safe](../features/fail-safe.md) for details.
+
+## Request to cooperate
+
+Request to cooperate (RTC) is a feature that the operator supports the decision in autonomous driving mode.
+Autoware usually drives the vehicle using its own decisions, but the operator may prefer to make their own decisions in complex situations.
+Since RTC only overrides the decision and does not need to change operation mode, the vehicle can continue autonomous driving, unlike RTC.
+See [cooperation](../features/cooperation.md) for details.
diff --git a/docs/design/autoware-interfaces/components/perception-interface.md b/docs/design/autoware-interfaces/components/perception-interface.md
index 00e13fbc2e5..a618241ebd7 100644
--- a/docs/design/autoware-interfaces/components/perception-interface.md
+++ b/docs/design/autoware-interfaces/components/perception-interface.md
@@ -99,7 +99,7 @@ traffic signals recognized by object detection model.
 - [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg)
   - [autoware_perception_msgs::msg::TrafficSignal](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignal.msg) signals
     - [autoware_perception_msgs::msg::TrafficSignalElement](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalElement.msg) elements
-      - unint8 UNKNOWN = 0
+      - uint8 UNKNOWN = 0
       - uint8 Red = 1
       - uint8 AMBER = 2
       - uint8 WHITE = 4
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/index.md
index 1c4a8a5bf78..5d42f5e0a5b 100644
--- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/index.md
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/index.md
@@ -16,7 +16,7 @@ Most of these algorithms already have a built-in loop-closure and pose graph opt
 
 ## List of Third Party SLAM Implementations
 
-<!-- cspell: ignore UGICP ISCLOAM Suitesparse -->
+<!-- cspell: ignore UGICP Suitesparse -->
 
 <br>
 <br>
diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/iscloam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/iscloam/index.md
index 6274ebf87ab..6f79c40d248 100644
--- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/iscloam/index.md
+++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/iscloam/index.md
@@ -1,5 +1,3 @@
-<!-- cspell: ignore ISCLOAM -->
-
 # ISCLOAM
 
 ## What is ISCLOAM?
diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml
index a86ed502e4d..7ee9a89be63 100644
--- a/yaml/autoware-interfaces.yaml
+++ b/yaml/autoware-interfaces.yaml
@@ -1,4 +1,22 @@
 types:
+  autoware_adapi_v1_msgs/msg/CooperationCommand:
+    msg:
+      cooperator: autoware_adapi_v1_msgs/msg/CooperationDecision
+      uuid: unique_identifier_msgs/msg/UUID
+  autoware_adapi_v1_msgs/msg/CooperationDecision:
+    msg:
+      decision: uint8
+  autoware_adapi_v1_msgs/msg/CooperationPolicy:
+    msg:
+      behavior: string
+      policy: uint8
+      sequence: string
+  autoware_adapi_v1_msgs/msg/CooperationStatus:
+    msg:
+      autonomous: autoware_adapi_v1_msgs/msg/CooperationDecision
+      cancellable: bool
+      cooperator: autoware_adapi_v1_msgs/msg/CooperationDecision
+      uuid: unique_identifier_msgs/msg/UUID
   autoware_adapi_v1_msgs/msg/DoorCommand:
     msg:
       command: uint8
@@ -100,10 +118,13 @@ types:
       state: uint16
   autoware_adapi_v1_msgs/msg/SteeringFactor:
     msg:
+      behavior: string
+      cooperation: autoware_adapi_v1_msgs/msg/CooperationStatus[<=1]
       detail: string
       direction: uint16
       distance: float32[2]
       pose: geometry_msgs/msg/Pose[2]
+      sequence: string
       status: uint16
       type: uint16
   autoware_adapi_v1_msgs/msg/SteeringFactorArray:
@@ -141,9 +162,12 @@ types:
       turn_indicators: autoware_adapi_v1_msgs/msg/TurnIndicators
   autoware_adapi_v1_msgs/msg/VelocityFactor:
     msg:
+      behavior: string
+      cooperation: autoware_adapi_v1_msgs/msg/CooperationStatus[<=1]
       detail: string
       distance: float32
       pose: geometry_msgs/msg/Pose
+      sequence: string
       status: uint16
       type: uint16
   autoware_adapi_v1_msgs/msg/VelocityFactorArray:
@@ -159,6 +183,10 @@ types:
   autoware_adapi_v1_msgs/srv/ClearRoute:
     res:
       status: autoware_adapi_v1_msgs/msg/ResponseStatus
+  autoware_adapi_v1_msgs/srv/GetCooperationPolicies:
+    res:
+      policies: autoware_adapi_v1_msgs/msg/CooperationPolicy[]
+      status: autoware_adapi_v1_msgs/msg/ResponseStatus
   autoware_adapi_v1_msgs/srv/GetDoorLayout:
     res:
       doors: autoware_adapi_v1_msgs/msg/DoorLayout[]
@@ -172,6 +200,16 @@ types:
       pose: geometry_msgs/msg/PoseWithCovarianceStamped[<=1]
     res:
       status: autoware_adapi_v1_msgs/msg/ResponseStatus
+  autoware_adapi_v1_msgs/srv/SetCooperationCommands:
+    req:
+      commands: autoware_adapi_v1_msgs/msg/CooperationCommand[]
+    res:
+      status: autoware_adapi_v1_msgs/msg/ResponseStatus
+  autoware_adapi_v1_msgs/srv/SetCooperationPolicies:
+    req:
+      policies: autoware_adapi_v1_msgs/msg/CooperationPolicy[]
+    res:
+      status: autoware_adapi_v1_msgs/msg/ResponseStatus
   autoware_adapi_v1_msgs/srv/SetDoorCommand:
     req:
       doors: autoware_adapi_v1_msgs/msg/DoorCommand[]