feat(intersection): add test map for intersection (#8455)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md

@@ -647,3 +647,15 @@ This module is activated when the following conditions are met:
 ### Known Issue
 
 If ego go over the stop line for a certain distance, then it will not transit from STOP.
+
+## Test Maps
+
+The intersections lanelet map consist of a variety of intersections including:
+
+- 4-way crossing with traffic light
+- 4-way crossing without traffic light
+- T-shape crossing without traffic light
+- intersection with a loop
+- complicated intersection
+
+![intersection_test](./docs/intersection_test_map.png)

planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml

@@ -10,6 +10,7 @@
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
+  <maintainer email="yukinari.hisaki.2@tier4.jp">Yukinari Hisaki</maintainer>
 
   <license>Apache License 2.0</license>
 

planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/CMakeLists.txt

@@ -26,4 +26,4 @@ if(BUILD_TESTING)
   )
 endif()
 
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE test_map)

planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/README.md

@@ -1,3 +1,17 @@
 # Behavior Velocity Planner Common
 
 This package provides common functions as a library, which are used in the `behavior_velocity_planner` node and modules.
+
+## Test map
+
+### intersection
+
+The intersections lanelet map consist of a variety of intersections including:
+
+- 4-way crossing with traffic light
+- 4-way crossing without traffic light
+- T-shape crossing without traffic light
+- intersection with a loop
+- complicated intersection
+
+![intersection_test](./docs/intersection_test_map.png)