docs(tutorials): add pull-over and pull-out scenario in tutorials page (

#510) * docs(tutorials):add pull-over and pull-out scenarios in tutorial Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * typos fixed Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Update docs/tutorials/ad-hoc-simulation/planning-simulation.md Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Update docs/tutorials/ad-hoc-simulation/planning-simulation.md Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Update docs/tutorials/ad-hoc-simulation/planning-simulation.md Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Update docs/tutorials/ad-hoc-simulation/planning-simulation.md Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Update docs/tutorials/ad-hoc-simulation/planning-simulation.md Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Update docs/tutorials/ad-hoc-simulation/planning-simulation.md Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Update docs/tutorials/ad-hoc-simulation/planning-simulation.md Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Update docs/tutorials/ad-hoc-simulation/planning-simulation.md Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * update pull out photo Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * typo fixed Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> * Adjusted size of the picture to match the style Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> --------- Signed-off-by: Ericpotatoy <zhanhong.yan@tier4.jp> Co-authored-by: Ericpotatoy <zhanhong.yan@tier4.jp> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
autowarefoundation · Jan 19, 2024 · ec6d5b9 · ec6d5b9
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diff --git a/...torials/ad-hoc-simulation/images/planning/pullover-pullout/pullover-pullout.jpg b/...torials/ad-hoc-simulation/images/planning/pullover-pullout/pullover-pullout.jpg
diff --git a/docs/tutorials/ad-hoc-simulation/planning-simulation.md b/docs/tutorials/ad-hoc-simulation/planning-simulation.md
@@ -103,6 +103,16 @@ After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button i
 
    ![parking-maneuver](images/planning/parking/parking-maneuver.png)
 
+### Pull out and pull over scenario
+
+1. In a pull out scenario, set the ego vehicle at the road shoulder.
+
+   ![pullover-pullout](images/planning/pullover-pullout/pullover-pullout.jpg)
+
+2. Set a goal and then engage the ego vehicle.
+
+3. In a pull over scenario, similarly set the ego vehicle in a lane and set a goal on the road shoulder.
+
 ### Lane change scenario
 
 1. Download and unpack Nishishinjuku map.