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added diagrams to PoV scenarios
Signed-off-by: Diego Yabuki <diegoken.yabuki@tier4.jp>
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‎usecases/pov/UC-PLN-001-0001.feature.md‎

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@@ -17,7 +17,7 @@ Confirm that ego is able to adjust its speed such as to maintain a safe distance
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* And Ego drives continuously at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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![Overview](./images/UC-PLN-001-0001_1.drawio.svg)
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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* And Ego reaches standstill
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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‎usecases/pov/UC-PLN-001-0002.feature.md‎

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* And Ego drives continuously at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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![Overview](./images/UC-PLN-001-0002_1.drawio.svg)
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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* And Ego reaches standstill
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* And Ego drives safely with no collisions at all times
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‎usecases/pov/UC-PLN-001-0003.feature.md‎

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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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‎usecases/pov/UC-PLN-001-0004.feature.md‎

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* And Ego drives safely with no collisions at all times
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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‎usecases/pov/UC-PLN-001-0005.feature.md‎

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![Overview](./images/UC-NTR-001-0001.drawio.svg)
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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![Overview](./images/UC-NTR-001-0001.drawio.svg)
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‎usecases/pov/UC-PLN-001-0006.feature.md‎

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* When Ego approaches Npc0 longitudinally, to within <dx_ego_npc0>
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* And later Npc0 cuts out from the ego lane to the left, within a timespan of <time_cut_in_npc0>
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* And Motorbike0 decelerates down to <vx_motorbike0> at a rate of <ax_motorbike0>
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* Then Ego starts decelerating to match the speed of Motorbike0, <vx_motorbike0>
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* And Motorbike0 decelerates down to <vx_motorbike1> at a rate of <ax_motorbike0>
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* Then Ego starts decelerating to match the speed of Motorbike0, <vx_motorbike1>
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* And Ego drives continuously at all times
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| vxi_ego | vxi_npc0 | dxi_npc0_motorbike0 | dx_ego_npc0 | vx_motorbike0 | ax_motorbike0 | time_cut_in_npc0 | axmin_ego |
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| vxi_ego | vxi_npc0 | dxi_npc0_motorbike0 | dx_ego_npc0 | vx_motorbike1 | ax_motorbike0 | time_cut_in_npc0 | axmin_ego |
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| ------- | -------- | ------------------- | ----------- | ------------ | ------------- | ---------------- | ---------- |
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| 20 km/h | 15 km/h | 15 m | 15 m | 5 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |
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| 30 km/h | 20 km/h | 15 m | 15 m | 10 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |
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* And later Npc0 cuts out from the ego lane to the right, within a timespan of <time_cut_in_npc0>
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* And Motorbike0 decelerates down to <vx_motorbike0> at a rate of <ax_motorbike0>
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* Then Ego starts decelerating to match the speed of Motorbike0, <vx_motorbike0>
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* And Motorbike0 decelerates down to <vx_motorbike1> at a rate of <ax_motorbike0>
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* Then Ego starts decelerating to match the speed of Motorbike0, <vx_motorbike1>
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| vxi_ego | vxi_npc0 | dxi_npc0_motorbike0 | dx_ego_npc0 | vx_motorbike0 | ax_motorbike0 | time_cut_in_npc0 | axmin_ego |
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| vxi_ego | vxi_npc0 | dxi_npc0_motorbike0 | dx_ego_npc0 | vx_motorbike1 | ax_motorbike0 | time_cut_in_npc0 | axmin_ego |
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| ------- | -------- | ------------------ | ----------- | ------------ | ------------- | ---------------- | ---------- |
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| 20 km/h | 15 km/h | 15 m | 15 m | 5 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |
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| 30 km/h | 20 km/h | 15 m | 15 m | 10 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |

‎usecases/pov/UC-PLN-002-0001.feature.md‎

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‎usecases/pov/UC-PLN-003-0001.feature.md‎

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‎usecases/pov/UC-PLN-004-0001.feature.md‎

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‎usecases/pov/UC-PLN-004-0002.feature.md‎

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