fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

planning/behavior_velocity_crosswalk_module/README.md

@@ -204,7 +204,7 @@ In current autoware implementation if there are no target objects around a cross
 will not slow down for the crosswalk. However, if ego vehicle to slow down to a certain speed in
 such cases is wanted then it is possible by adding some tags to the related crosswalk definition as
 it is instructed
-in [lanelet2_format_extension.md](docs/<https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md)>
+in [lanelet2_format_extension.md](https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md)
 document.
 
 ### Limitations

planning/behavior_velocity_intersection_module/README.md

@@ -41,11 +41,11 @@ Target objects are limited by lanelets to prevent unexpected behavior. A lane th
 
 See the following figures to know how to create an attention area and its rationale.
 
-![intersection_straight](intersection_straight.png)
+![intersection_straight](docs/intersection_straight.png)
 
-![intersection_turn_right](intersection_turn_right.png)
+![intersection_turn_right](docs/intersection_turn_right.png)
 
-![intersection_turn_left](intersection_turn_left.png)
+![intersection_turn_left](docs/intersection_turn_left.png)
 
 Note: the case `traffic light, turn right only` is not currently implemented.
 
@@ -207,7 +207,7 @@ NOTE current state is treated as `STOP` if `is_entry_prohibited` = `true` else `
 
 ### How to Set Lanelet Map fot Intersection
 
-![intersection_fig](intersection_fig.png)
+![intersection_fig](docs/intersection_fig.png)
 
 #### Set a turn_direction tag (Fig. 1)
 

planning/behavior_velocity_out_of_lane_module/README.md

@@ -61,10 +61,10 @@ If the distance is bellow the `actions.stop.threshold`, a velocity of `0`m/s wil
 <table width="100%">
   <tr>
   <td>
-    <img src="./out_of_lane_slow.png" width="550px"/>
+    <img src="./docs/out_of_lane_slow.png" width="550px"/>
   </td>
   <td>
-    <img src="./out_of_lane_stop.png" width="550px"/>
+    <img src="./docs/out_of_lane_stop.png" width="550px"/>
   </td>
   </tr>
 </table>

planning/behavior_velocity_planner/README.md

@@ -7,20 +7,19 @@ It loads modules as plugins. Please refer to the links listed below for detail o
 
 ![Architecture](./docs/BehaviorVelocityPlanner-Architecture.drawio.svg)
 
-- [Blind Spot](../behavior_velocity_blind_spot_module/docs/blind-spot-design.md)
-- [Crosswalk](../behavior_velocity_crosswalk_module/docs/crosswalk-design.md)
-- [Detection Area](../behavior_velocity_detection_area_module/docs/detection-area-design.md)
-- [Intersection](../behavior_velocity_intersection_module/docs/intersection-design.md)
-- [MergeFromPrivate](../behavior_velocity_intersection_module/docs/merge-from-private-design.md)
-- [Stop Line](../behavior_velocity_stop_line_module/docs/stop-line-design.md)
-- [Virtual Traffic Light](../behavior_velocity_virtual_traffic_light_module/docs/virtual-traffic-light-design.md)
-- [Traffic Light](../behavior_velocity_traffic_light_module/docs/traffic-light-design.md)
-- [Occlusion Spot](../behavior_velocity_occlusion_spot_module/docs/occlusion-spot-design.md)
-- [No Stopping Area](../behavior_velocity_no_stopping_area_module/docs/no-stopping-area-design.md)
-- [Run Out](../behavior_velocity_run_out_module/docs/run-out-design.md)
-- [Speed Bump](../behavior_velocity_speed_bump_module/docs/speed-bump-design.md)
-- [Out of Lane](../behavior_velocity_out_of_lane_module/docs/out-of-lane-design.md)
-- [No Drivable Lane](../behavior_velocity_no_drivable_lane_module/docs/no-drivable-lane-design.md)
+- [Blind Spot](../behavior_velocity_blind_spot_module/README.md)
+- [Crosswalk](../behavior_velocity_crosswalk_module/README.md)
+- [Detection Area](../behavior_velocity_detection_area_module/README.md)
+- [Intersection](../behavior_velocity_intersection_module/README.md)
+- [MergeFromPrivate](../behavior_velocity_intersection_module/README.md#merge-from-private)
+- [Stop Line](../behavior_velocity_stop_line_module/README.md)
+- [Virtual Traffic Light](../behavior_velocity_virtual_traffic_light_module/README.md)
+- [Traffic Light](../behavior_velocity_traffic_light_module/README.md)
+- [Occlusion Spot](../behavior_velocity_occlusion_spot_module/README.md)
+- [No Stopping Area](../behavior_velocity_no_stopping_area_module/README.md)
+- [Run Out](../behavior_velocity_run_out_module/README.md)
+- [Speed Bump](../behavior_velocity_speed_bump_module/README.md)
+- [Out of Lane](../behavior_velocity_out_of_lane_module/README.md)
 
 When each module plans velocity, it considers based on `base_link`(center of rear-wheel axis) pose.
 So for example, in order to stop at a stop line with the vehicles' front on the stop line, it calculates `base_link` position from the distance between `base_link` to front and modifies path velocity from the `base_link` position.

planning/behavior_velocity_run_out_module/README.md

@@ -80,7 +80,7 @@ Abstracted obstacle data has following information.
 | min_velocity_mps | `float`                                                                 | minimum velocity of the obstacle. specified by parameter of `dynamic_obstacle.min_vel_kmph`                            |
 | max_velocity_mps | `float`                                                                 | maximum velocity of the obstacle. specified by parameter of `dynamic_obstacle.max_vel_kmph`                            |
 
-Enter the maximum/minimum velocity of the object as a parameter, adding enough margin to the expected velocity. This parameter is used to create polygons for [collision detection](./docs/run-out-design.md#Collision-detection).
+Enter the maximum/minimum velocity of the object as a parameter, adding enough margin to the expected velocity. This parameter is used to create polygons for [collision detection](.#Collision-detection).
 
 Future work: Determine the maximum/minimum velocity from the estimated velocity with covariance of the object
 
@@ -114,7 +114,7 @@ You can choose whether to use this feature by parameter of `use_partition_lanele
 
 Along the ego vehicle path, determine the points where collision detection is to be performed for each `detection_span`.
 
-The travel times to the each points are calculated from [the expected target velocity](./docs/run-out-design.md#Calculate-the-expected-target-velocity-for-ego-vehicle).
+The travel times to the each points are calculated from [the expected target velocity](.#Calculate-the-expected-target-velocity-for-ego-vehicle).
 
 ![brief](./docs/create_polygon_on_path_point.svg)
 
@@ -166,7 +166,7 @@ APPROACH --> APPROACH : Approach duration is less than threshold
 ##### Limit velocity with specified jerk and acc limit
 
 The maximum slowdown velocity is calculated in order not to slowdown too much.
-See the [Occlusion Spot document](../../behavior_velocity_occlusion_spot_module/docs/occlusion-spot-design.md#maximum-slowdown-velocity) for more details.
+See the [Occlusion Spot document](../behavior_velocity_occlusion_spot_module/#maximum-slowdown-velocity) for more details.
 You can choose whether to use this feature by parameter of `slow_down_limit.enable`.
 
 ### Module Parameters

planning/behavior_velocity_speed_bump_module/README.md

@@ -55,7 +55,7 @@ is being used.
 
 ### Future Work
 
-- In an article [here](docs/<https://journals.sagepub.com/doi/10.1155/2014/736576)>, a bump modeling method
+- In an article [here](https://journals.sagepub.com/doi/10.1155/2014/736576), a bump modeling method
   is proposed. Simply it is based on fitting the bump in a circle and a radius calculation is done
   with it. Although the velocity calculation is based on just the height of the bump in the recent
   implementation, applying this method is intended in the future which will yield more realistic