D-Kit : Move and modified the D-Kit folder and its files (#12477)

* D-Kit : Move the D-Kit folder * D-Kit : Rename all the files of the D-Kit folder * D-Kit : Modified the pictures of the D-Kit folder * D-Kit : Modified the wrong links * D-Kit : Move the Apollo_Fuel folder
ApolloAuto · Sep 11, 2020 · 994be65 · 994be65
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diff --git a/...specs/Apollo_Fuel/Apply_BOS_Account_cn.md → docs/Apollo_Fuel/apply_bos_account_cn.md b/...specs/Apollo_Fuel/Apply_BOS_Account_cn.md → docs/Apollo_Fuel/apply_bos_account_cn.md
diff --git a/...12mm_to_lidar/camera_12mm_to_lidar.config → ...12mm_to_lidar/camera_12mm_to_lidar.config b/...12mm_to_lidar/camera_12mm_to_lidar.config → ...12mm_to_lidar/camera_12mm_to_lidar.config
diff --git a/...a_12mm_to_lidar/extracted_data/readme.txt → ...a_12mm_to_lidar/extracted_data/readme.txt b/...a_12mm_to_lidar/extracted_data/readme.txt → ...a_12mm_to_lidar/extracted_data/readme.txt
diff --git a/...n/camera_12mm_to_lidar/records/readme.txt → ...n/camera_12mm_to_lidar/records/readme.txt b/...n/camera_12mm_to_lidar/records/readme.txt → ...n/camera_12mm_to_lidar/records/readme.txt
diff --git a/...a_6mm_to_lidar/camera_6mm_to_lidar.config → ...a_6mm_to_lidar/camera_6mm_to_lidar.config b/...a_6mm_to_lidar/camera_6mm_to_lidar.config → ...a_6mm_to_lidar/camera_6mm_to_lidar.config
diff --git a/...ra_6mm_to_lidar/extracted_data/readme.txt → ...ra_6mm_to_lidar/extracted_data/readme.txt b/...ra_6mm_to_lidar/extracted_data/readme.txt → ...ra_6mm_to_lidar/extracted_data/readme.txt
diff --git a/...on/camera_6mm_to_lidar/records/readme.txt → ...on/camera_6mm_to_lidar/records/readme.txt b/...on/camera_6mm_to_lidar/records/readme.txt → ...on/camera_6mm_to_lidar/records/readme.txt
diff --git a/...n/lidar_to_gnss/extracted_data/readme.txt → ...n/lidar_to_gnss/extracted_data/readme.txt b/...n/lidar_to_gnss/extracted_data/readme.txt → ...n/lidar_to_gnss/extracted_data/readme.txt
diff --git a/...ration/lidar_to_gnss/lidar_to_gnss.config → ...ration/lidar_to_gnss/lidar_to_gnss.config b/...ration/lidar_to_gnss/lidar_to_gnss.config → ...ration/lidar_to_gnss/lidar_to_gnss.config
diff --git a/...ibration/lidar_to_gnss/records/readme.txt → ...ibration/lidar_to_gnss/records/readme.txt b/...ibration/lidar_to_gnss/records/readme.txt → ...ibration/lidar_to_gnss/records/readme.txt
diff --git a/...s/Apollo_Fuel/images/bos_client_ak_sk.png → docs/Apollo_Fuel/images/bos_client_ak_sk.png b/...s/Apollo_Fuel/images/bos_client_ak_sk.png → docs/Apollo_Fuel/images/bos_client_ak_sk.png
diff --git a/.../Apollo_Fuel/images/bos_client_bucket.png → .../Apollo_Fuel/images/bos_client_bucket.png b/.../Apollo_Fuel/images/bos_client_bucket.png → .../Apollo_Fuel/images/bos_client_bucket.png
diff --git a/...pollo_Fuel/images/bos_client_security.png → ...pollo_Fuel/images/bos_client_security.png b/...pollo_Fuel/images/bos_client_security.png → ...pollo_Fuel/images/bos_client_security.png
diff --git a/docs/specs/Apollo_Fuel/images/bucket_AK.png → docs/Apollo_Fuel/images/bucket_AK.png b/docs/specs/Apollo_Fuel/images/bucket_AK.png → docs/Apollo_Fuel/images/bucket_AK.png
diff --git a/docs/specs/Apollo_Fuel/images/bucket_SK.png → docs/Apollo_Fuel/images/bucket_SK.png b/docs/specs/Apollo_Fuel/images/bucket_SK.png → docs/Apollo_Fuel/images/bucket_SK.png
diff --git a/...s/Apollo_Fuel/images/bucket_authority.png → docs/Apollo_Fuel/images/bucket_authority.png b/...s/Apollo_Fuel/images/bucket_authority.png → docs/Apollo_Fuel/images/bucket_authority.png
diff --git a/...pecs/Apollo_Fuel/images/bucket_create.png → docs/Apollo_Fuel/images/bucket_create.png b/...pecs/Apollo_Fuel/images/bucket_create.png → docs/Apollo_Fuel/images/bucket_create.png
diff --git a/.../specs/Apollo_Fuel/images/bucket_main.png → docs/Apollo_Fuel/images/bucket_main.png b/.../specs/Apollo_Fuel/images/bucket_main.png → docs/Apollo_Fuel/images/bucket_main.png
diff --git a/docs/specs/Apollo_Fuel/images/login_bos.png → docs/Apollo_Fuel/images/login_bos.png b/docs/specs/Apollo_Fuel/images/login_bos.png → docs/Apollo_Fuel/images/login_bos.png
diff --git a/...ecs/Apollo_Fuel/images/login_bos_main.png → docs/Apollo_Fuel/images/login_bos_main.png b/...ecs/Apollo_Fuel/images/login_bos_main.png → docs/Apollo_Fuel/images/login_bos_main.png
diff --git a/...Apollo_Fuel/images/login_bos_recharge.png → ...Apollo_Fuel/images/login_bos_recharge.png b/...Apollo_Fuel/images/login_bos_recharge.png → ...Apollo_Fuel/images/login_bos_recharge.png
diff --git a/docs/specs/Apollo_Fuel/images/login_main.png → docs/Apollo_Fuel/images/login_main.png b/docs/specs/Apollo_Fuel/images/login_main.png → docs/Apollo_Fuel/images/login_main.png
diff --git a/...ng/images/camera_adaptation_dreamview.png → ...ng/images/camera_adaptation_dreamview.png b/...ng/images/camera_adaptation_dreamview.png → ...ng/images/camera_adaptation_dreamview.png
diff --git a/...adaptation_dreamview_start_perception.png → ...adaptation_dreamview_start_perception.png b/...adaptation_dreamview_start_perception.png → ...adaptation_dreamview_start_perception.png
diff --git a/...s/camera_adaption_dreamview_obstacle1.png → ...s/camera_adaption_dreamview_obstacle1.png b/...s/camera_adaption_dreamview_obstacle1.png → ...s/camera_adaption_dreamview_obstacle1.png
diff --git a/...s/camera_adaption_dreamview_obstacle2.png → ...s/camera_adaption_dreamview_obstacle2.png b/...s/camera_adaption_dreamview_obstacle2.png → ...s/camera_adaption_dreamview_obstacle2.png
diff --git a/...ges/camera_adaption_dreamview_vehicle.png → ...ges/camera_adaption_dreamview_vehicle.png b/...ges/camera_adaption_dreamview_vehicle.png → ...ges/camera_adaption_dreamview_vehicle.png
diff --git a/...ving/images/camera_calibration_config.png → ...ving/images/camera_calibration_config.png b/...ving/images/camera_calibration_config.png → ...ving/images/camera_calibration_config.png
diff --git a/...camera_calibration_coordinate_system.jpeg → .../camera_calibration_coordinate_system.jpg b/...camera_calibration_coordinate_system.jpeg → .../camera_calibration_coordinate_system.jpg
diff --git a/...riving/images/camera_calibration_fuel.png → ...riving/images/camera_calibration_fuel.png b/...riving/images/camera_calibration_fuel.png → ...riving/images/camera_calibration_fuel.png
diff --git a/...iving/images/camera_calibration_look.jpeg → ...riving/images/camera_calibration_look.jpg b/...iving/images/camera_calibration_look.jpeg → ...riving/images/camera_calibration_look.jpg
diff --git a/...calibration_modify_localization_file.jpeg → ..._calibration_modify_localization_file.jpg b/...calibration_modify_localization_file.jpeg → ..._calibration_modify_localization_file.jpg
diff --git a/docs/D-kit/Camera_Based_Auto_Driving/images/camera_calibration_result_picture1.jpg b/docs/D-kit/Camera_Based_Auto_Driving/images/camera_calibration_result_picture1.jpg
diff --git a/docs/D-kit/Camera_Based_Auto_Driving/images/camera_calibration_result_picture2.jpg b/docs/D-kit/Camera_Based_Auto_Driving/images/camera_calibration_result_picture2.jpg
diff --git a/docs/D-kit/Camera_Based_Auto_Driving/images/camera_calibration_tree1.jpg b/docs/D-kit/Camera_Based_Auto_Driving/images/camera_calibration_tree1.jpg
diff --git a/...iving/images/camera_calibration_tree2.png → ...iving/images/camera_calibration_tree2.png b/...iving/images/camera_calibration_tree2.png → ...iving/images/camera_calibration_tree2.png
diff --git a/...iving/images/camera_calibration_tree3.png → ...iving/images/camera_calibration_tree3.png b/...iving/images/camera_calibration_tree3.png → ...iving/images/camera_calibration_tree3.png
diff --git a/...images/camera_demonstration_dreamview.png → ...images/camera_demonstration_dreamview.png b/...images/camera_demonstration_dreamview.png → ...images/camera_demonstration_dreamview.png
diff --git a/...mages/camera_demonstration_dreamview1.png → ...mages/camera_demonstration_dreamview1.png b/...mages/camera_demonstration_dreamview1.png → ...mages/camera_demonstration_dreamview1.png
diff --git a/...mera_demonstration_dreamview_obstacle.png → ...mera_demonstration_dreamview_obstacle.png b/...mera_demonstration_dreamview_obstacle.png → ...mera_demonstration_dreamview_obstacle.png
diff --git a/...era_demonstration_dreamview_planning1.png → ...era_demonstration_dreamview_planning1.png b/...era_demonstration_dreamview_planning1.png → ...era_demonstration_dreamview_planning1.png
diff --git a/...era_demonstration_dreamview_planning2.png → ...era_demonstration_dreamview_planning2.png b/...era_demonstration_dreamview_planning2.png → ...era_demonstration_dreamview_planning2.png
diff --git a/...ra_demonstration_perception_obstacle1.png → ...ra_demonstration_perception_obstacle1.png b/...ra_demonstration_perception_obstacle1.png → ...ra_demonstration_perception_obstacle1.png
diff --git a/...ra_demonstration_perception_obstacle2.png → ...ra_demonstration_perception_obstacle2.png b/...ra_demonstration_perception_obstacle2.png → ...ra_demonstration_perception_obstacle2.png
diff --git a/...es/camera_demonstration_planning_data.png → ...es/camera_demonstration_planning_data.png b/...es/camera_demonstration_planning_data.png → ...es/camera_demonstration_planning_data.png
diff --git a/.../images/camera_integration_background.PNG → .../images/camera_integration_background.png b/.../images/camera_integration_background.PNG → .../images/camera_integration_background.png
diff --git a/.../images/camera_integration_dreamview1.png → .../images/camera_integration_dreamview1.png b/.../images/camera_integration_dreamview1.png → .../images/camera_integration_dreamview1.png
diff --git a/.../images/camera_integration_dreamview2.png → .../images/camera_integration_dreamview2.png b/.../images/camera_integration_dreamview2.png → .../images/camera_integration_dreamview2.png
diff --git a/...mages/camera_integration_installation.png → ...mages/camera_integration_installation.png b/...mages/camera_integration_installation.png → ...mages/camera_integration_installation.png
diff --git a/...g/images/camera_integration_io_number.png → ...g/images/camera_integration_io_number.png b/...g/images/camera_integration_io_number.png → ...g/images/camera_integration_io_number.png
diff --git a/docs/D-kit/Camera_Based_Auto_Driving/images/camera_integration_line.jpg b/docs/D-kit/Camera_Based_Auto_Driving/images/camera_integration_line.jpg
diff --git a/docs/D-kit/Camera_Based_Auto_Driving/images/camera_integration_look.jpg b/docs/D-kit/Camera_Based_Auto_Driving/images/camera_integration_look.jpg
diff --git a/.../D-kit/Camera_Based_Auto_Driving/images/lidar_calibration_recorder_command1.png b/.../D-kit/Camera_Based_Auto_Driving/images/lidar_calibration_recorder_command1.png
diff --git a/.../D-kit/Camera_Based_Auto_Driving/images/lidar_calibration_recorder_command2.png b/.../D-kit/Camera_Based_Auto_Driving/images/lidar_calibration_recorder_command2.png
diff --git a/...images/lidar_calibration_unauthorized.png → ...images/lidar_calibration_unauthorized.png b/...images/lidar_calibration_unauthorized.png → ...images/lidar_calibration_unauthorized.png
diff --git a/...ng/images/sensor_calibration_recorder.png → ...ng/images/sensor_calibration_recorder.png b/...ng/images/sensor_calibration_recorder.png → ...ng/images/sensor_calibration_recorder.png
diff --git a/...to_Driving/Perception_Configuration_cn.md → ...to_Driving/perception_configuration_cn.md b/...to_Driving/Perception_Configuration_cn.md → ...to_Driving/perception_configuration_cn.md
@@ -22,11 +22,11 @@
 
 ## 前提条件
 
- 1. 正确完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/Start_Waypoint_Following_cn.md)。
+ 1. 正确完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/start_waypoint_following_cn.md)。
 
- 2. 正确完成了[基于摄像头的封闭园区自动驾驶搭建--感知设备集成](Sensor_Integration_cn.md)。
+ 2. 正确完成了[基于摄像头的封闭园区自动驾驶搭建--感知设备集成](sensor_integration_cn.md)。
 
- 3. 正确完成了[基于摄像头的封闭园区自动驾驶搭建--感知设备标定](Sensor_Calibration_cn.md)。
+ 3. 正确完成了[基于摄像头的封闭园区自动驾驶搭建--感知设备标定](sensor_calibration_cn.md)。
 
 ## 配置文件的修改
 
@@ -94,7 +94,7 @@
 如果在dreamview上能看到障碍物并且`/apollo/perception/obstacles`有障碍物信息，则开环测试通过。
 
 ## NEXT
-现在，您已经完成摄像头感知适配，接下来可以开始[封闭园区自动驾驶搭建--规划适配](../Lidar_Based_Auto_Driving/Planning_Configuration_cn.md)
+现在，您已经完成摄像头感知适配，接下来可以开始[封闭园区自动驾驶搭建--规划适配](../Lidar_Based_Auto_Driving/planning_configuration_cn.md)
 
 ## 常见问题
 

diff --git a/...sed_Auto_Driving/Sensor_Calibration_cn.md → ...sed_Auto_Driving/sensor_calibration_cn.md b/...sed_Auto_Driving/Sensor_Calibration_cn.md → ...sed_Auto_Driving/sensor_calibration_cn.md
@@ -41,20 +41,20 @@
 
 ## 前提条件
 
- - 完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/Start_Waypoint_Following_cn.md)
+ - 完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/start_waypoint_following_cn.md)
 
- - 完成了[基于摄像头的封闭园区自动驾驶搭建--感知设备集成](Sensor_Integration_cn.md)
+ - 完成了[基于摄像头的封闭园区自动驾驶搭建--感知设备集成](sensor_integration_cn.md)
 
 ## 百度云对象存储BOS注册
-注册方法参考[百度云对象存储BOS注册与基本使用向导](../../Apollo_Fuel/Apply_BOS_Account_cn.md) 
+注册方法参考[百度云对象存储BOS注册与基本使用向导](../../Apollo_Fuel/apply_bos_account_cn.md) 
 ## 开通云服务账号
 请与商务部门联系开通云服务账号，需要提供上一步骤中注册的`Bucket名称`、`所属地域`和用户邮箱信息
 ## 修改配置文件
 |修改文件名称 | 修改内容 | 
 |---|---|
 | `modules/localization/conf/localization.conf`|`enable_lidar_localization`为`false`| 
 
-![camera_calibration_modify_localization_file](images/camera_calibration_modify_localization_file.jpeg)
+![camera_calibration_modify_localization_file](images/camera_calibration_modify_localization_file.jpg)
 
 **注意**：所有传感器标定完成后，如果用户要使用msf定位，则需要再改为`true`。
 
@@ -64,17 +64,17 @@
 
 #### 1. Lidar、Camera的坐标系定义
 
- ![camera_calibration_coordinate_system](images/camera_calibration_coordinate_system.jpeg)
+ ![camera_calibration_coordinate_system](images/camera_calibration_coordinate_system.jpg)
 
 #### 2. Camera坐标系原点在传感器的位置
 
 Camera坐标系原点在下图所示平面的中心点：
 
-![camera_calibration_look](images/camera_calibration_look.jpeg)
+![camera_calibration_look](images/camera_calibration_look.jpg)
 
 #### 3. Lidar坐标系原点在传感器的位置
 
-见[基于激光雷达的封闭园区自动驾驶搭建--感知设备标定](../Lidar_Based_Auto_Driving/Sensor_Calibration_cn.md)文档
+见[基于激光雷达的封闭园区自动驾驶搭建--感知设备标定](../Lidar_Based_Auto_Driving/sensor_calibration_cn.md)文档
 
 #### 4. 手动测量Camera-Lidar的初始化外参文件
 
@@ -115,7 +115,7 @@ Camera坐标系原点在下图所示平面的中心点：
 | VLP-16    |  /apollo/sensor/lidar16/PointCloud2   | 10            |
 | Localization       | /apollo/localization/pose             | 100           |
 
-为获取上述`channel`，需要正确启动Apollo环境及dreamview，在dreamview中选择模式为`Dev Kit Debug`， 选择车型为`Dev Kit`，并在dreamview中启动启动`GPS`、`Localization`、`Camera`三个模块，详细操作方式分别参考[循迹搭建--定位模块配置](../Waypoint_Following/Localization_Configuration_cn.md)、[基于摄像头的封闭园区自动驾驶搭建--感知设备集成](../Camera_Based_Auto_Driving/Sensor_Integration_cn.md)。在正式开始录制前，务必确保以上channel能正常输出数据。
+为获取上述`channel`，需要正确启动Apollo环境及dreamview，在dreamview中选择模式为`Dev Kit Debug`， 选择车型为`Dev Kit`，并在dreamview中启动启动`GPS`、`Localization`、`Camera`三个模块，详细操作方式分别参考[循迹搭建--定位模块配置](../Waypoint_Following/localization_configuration_cn.md)、[基于摄像头的封闭园区自动驾驶搭建--感知设备集成](../Camera_Based_Auto_Driving/sensor_integration_cn.md)。在正式开始录制前，务必确保以上channel能正常输出数据。
 
 #### 2. 使用Apollo录制数据包的方法
 
@@ -221,9 +221,9 @@ budaoshi@in_dev_docker:/apollo/modules/tools/sensor_calibration$ python extract_
  **Camera-Lidar标定结果验证**：
  BOS中用户指定的Output Data Path路径下包含了标定结果验证图片。在产生的点云投影图像内，可寻找其中具有明显边缘的物体和标志物，查看其边缘轮廓对齐情况。如果50米以内的目标，点云边缘和图像边缘能够重合，则可以证明标定结果的精度很高。反之，若出现错位现象，则说明标定结果存在误差。当误差大于一定范围时（范围依据实际使用情况而定），该外参不可用。如下图所示，图1为准确外参的点云投影效果，图2为有偏差外参的点云投影效果。
 
-![camera_calibration_result_picture1](images/camera_calibration_result_picture1.png) 
+![camera_calibration_result_picture1](images/camera_calibration_result_picture1.jpg) 
 
-![camera_calibration_result_picture2](images/camera_calibration_result_picture2.png)
+![camera_calibration_result_picture2](images/camera_calibration_result_picture2.jpg)
 
  **Camera-Lidar标定外参文件**：
 
@@ -235,7 +235,7 @@ budaoshi@in_dev_docker:/apollo/modules/tools/sensor_calibration$ python extract_
 
  - 默认使用1个6mm、1个12mm摄像头，用户如需要使用第二个6mm摄像头时，需要自行指定文件名，并进行相应修改。
 ## NEXT
-现在，您已经完成摄像头感知设备标定， 接下来可以开始[封闭园区自动驾驶搭建--虚拟车道线制作](../Lidar_Based_Auto_Driving/Virtual_Lane_Generation_cn.md)(如果在适配基于激光雷达的自动驾驶过程中已经制作了虚拟车道线文件，则可以跳过此步骤，进行[基于摄像头的封闭园区自动驾驶搭建--感知适配](Perception_Configuration_cn.md))
+现在，您已经完成摄像头感知设备标定， 接下来可以开始[封闭园区自动驾驶搭建--虚拟车道线制作](../Lidar_Based_Auto_Driving/virtual_lane_generation_cn.md)(如果在适配基于激光雷达的自动驾驶过程中已经制作了虚拟车道线文件，则可以跳过此步骤，进行[基于摄像头的封闭园区自动驾驶搭建--感知适配](perception_configuration_cn.md))
 ## 常见问题
 #### 1. 提交后，显示`UNAUTHORIZED`
 ![lidar_calibration_unauthorized](images/lidar_calibration_unauthorized.png)
@@ -245,4 +245,4 @@ budaoshi@in_dev_docker:/apollo/modules/tools/sensor_calibration$ python extract_
 
 #### 3. 标定结果误差较大
 - 标定时，确保GNSS信号状态良好，周围有轮廓清晰的静态障碍物
-- 保证传感器的安装精度，安装误差超过要求精度时，标定结果不容易收敛
+- 保证传感器的安装精度，安装误差超过要求精度时，标定结果不容易收敛
diff --git a/...sed_Auto_Driving/Sensor_Integration_cn.md → ...sed_Auto_Driving/sensor_integration_cn.md b/...sed_Auto_Driving/Sensor_Integration_cn.md → ...sed_Auto_Driving/sensor_integration_cn.md
@@ -21,7 +21,7 @@
 
 ## 前提条件
 
- - 完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/Start_Waypoint_Following_cn.md)
+ - 完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/start_waypoint_following_cn.md)
 
 
 ## 概览
@@ -45,15 +45,15 @@
 
 - 注意摄像头不要装反(usb接口应该在下方)，正确的放置方向如下图所示：
 
-	![camera_integration_look](images/camera_integration_look.jpeg)
+	![camera_integration_look](images/camera_integration_look.jpg)
 
 ### 摄像头与工控机连接
 
  - 直接用数据线将设备连接在IPC的USB3.0接口。接口顺序无固定顺序，用户可自行指定。
 
-	![camera_integration_background](images/camera_integration_background.PNG)
+	![camera_integration_background](images/camera_integration_background.png)
 
-	![camera_integration_line](images/camera_integration_line.jpeg)
+	![camera_integration_line](images/camera_integration_line.jpg)
 
 ### 摄像头规则文件的配置
 
@@ -125,8 +125,8 @@
 	budaoshi@in_dev_docker:/apollo$ cyber_monitor
 	```
 ## NEXT
-现在，您已经完成摄像头感知设备集成，接下来可以开始[基于摄像头的封闭园区自动驾驶搭建--感知设备标定](Sensor_Calibration_cn.md)
+现在，您已经完成摄像头感知设备集成，接下来可以开始[基于摄像头的封闭园区自动驾驶搭建--感知设备标定](sensor_calibration_cn.md)
 ## 常见问题
 #### 1. 规则文件修改后不显示软连接
 规则文件修改后需要重启工控机才能生效
-
+
diff --git a/...sed_Auto_Driving/Start_Auto_Driving_cn.md → ...sed_Auto_Driving/start_auto_driving_cn.md b/...sed_Auto_Driving/Start_Auto_Driving_cn.md → ...sed_Auto_Driving/start_auto_driving_cn.md
@@ -21,13 +21,13 @@
 
 ## 前提条件
 
-1. 正确完成了[基于摄像头的封闭园区自动驾驶搭建--感知设备集成](Sensor_Integration_cn.md)。
+1. 正确完成了[基于摄像头的封闭园区自动驾驶搭建--感知设备集成](sensor_integration_cn.md)。
 
-2. 正确完成了[基于摄像头的封闭园区自动驾驶搭建--感知适配](Perception_Configuration_cn.md)。
+2. 正确完成了[基于摄像头的封闭园区自动驾驶搭建--感知适配](perception_configuration_cn.md)。
 
-3. 正确完成了[封闭园区自动驾驶搭建--虚拟车道线制作](../Lidar_Based_Auto_Driving/Virtual_Lane_Generation_cn.md)。
+3. 正确完成了[封闭园区自动驾驶搭建--虚拟车道线制作](../Lidar_Based_Auto_Driving/virtual_lane_generation_cn.md)。
 
-4. 正确完成了[封闭园区自动驾驶搭建--规划适配](../Lidar_Based_Auto_Driving/Planning_Configuration_cn.md)。
+4. 正确完成了[封闭园区自动驾驶搭建--规划适配](../Lidar_Based_Auto_Driving/planning_configuration_cn.md)。
 
 5. 确保在道路平整、车少人少等相对安全的情况下实验。
 
@@ -121,5 +121,5 @@
 #### 1. 自动驾驶过程中车轮来回摆动，有画龙现象
 这种情况一般是车辆动力学标定没有做好，建议重新进行动力学标定
 #### 2. 车辆换道、停止等效果不理想
-- 在保证感知、定位稳定的前提下，可以尝试修改planning配置文件中的相关参数进行调整，详情参考[封闭园区自动驾驶搭建--规划适配](../Lidar_Based_Auto_Driving/Planning_Configuration_cn.md)
+- 在保证感知、定位稳定的前提下，可以尝试修改planning配置文件中的相关参数进行调整，详情参考[封闭园区自动驾驶搭建--规划适配](../Lidar_Based_Auto_Driving/planning_configuration_cn.md)
 
diff --git a/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_adaptation_dreamview1.png b/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_adaptation_dreamview1.png
diff --git a/...ng/images/lidar_adaptation_dreamview2.png → ...ng/images/lidar_adaptation_dreamview2.png b/...ng/images/lidar_adaptation_dreamview2.png → ...ng/images/lidar_adaptation_dreamview2.png
diff --git a/...ng/images/lidar_adaptation_dreamview3.png → ...ng/images/lidar_adaptation_dreamview3.png b/...ng/images/lidar_adaptation_dreamview3.png → ...ng/images/lidar_adaptation_dreamview3.png
diff --git a/...ng/images/lidar_adaptation_dreamview4.png → ...ng/images/lidar_adaptation_dreamview4.png b/...ng/images/lidar_adaptation_dreamview4.png → ...ng/images/lidar_adaptation_dreamview4.png
diff --git a/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_adaptation_dreamview5.png b/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_adaptation_dreamview5.png
diff --git a/...ng/images/lidar_adaptation_dreamview6.png → ...ng/images/lidar_adaptation_dreamview6.png b/...ng/images/lidar_adaptation_dreamview6.png → ...ng/images/lidar_adaptation_dreamview6.png
diff --git a/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_adaptation_dreamview7.png b/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_adaptation_dreamview7.png
diff --git a/...lidar_adaptation_dreamview7_closeloop.png → ...lidar_adaptation_dreamview7_closeloop.png b/...lidar_adaptation_dreamview7_closeloop.png → ...lidar_adaptation_dreamview7_closeloop.png
diff --git a/...ges/lidar_adaptation_dreamview7_debug.png → ...ges/lidar_adaptation_dreamview7_debug.png b/...ges/lidar_adaptation_dreamview7_debug.png → ...ges/lidar_adaptation_dreamview7_debug.png
diff --git a/...ng/images/lidar_adaptation_obstacles1.png → ...ng/images/lidar_adaptation_obstacles1.png b/...ng/images/lidar_adaptation_obstacles1.png → ...ng/images/lidar_adaptation_obstacles1.png
diff --git a/...ng/images/lidar_adaptation_obstacles2.png → ...ng/images/lidar_adaptation_obstacles2.png b/...ng/images/lidar_adaptation_obstacles2.png → ...ng/images/lidar_adaptation_obstacles2.png
diff --git a/...iving/images/lidar_adaption_closeloop.png → ...iving/images/lidar_adaption_closeloop.png b/...iving/images/lidar_adaption_closeloop.png → ...iving/images/lidar_adaption_closeloop.png
diff --git a/...es/lidar_adaption_dreamview_closeloop.png → ...es/lidar_adaption_dreamview_closeloop.png b/...es/lidar_adaption_dreamview_closeloop.png → ...es/lidar_adaption_dreamview_closeloop.png
diff --git a/...g/images/lidar_adaption_start_lidar_1.png → ...g/images/lidar_adaption_start_lidar_1.png b/...g/images/lidar_adaption_start_lidar_1.png → ...g/images/lidar_adaption_start_lidar_1.png
diff --git a/...ges/lidar_adaption_start_localization.png → ...ges/lidar_adaption_start_localization.png b/...ges/lidar_adaption_start_localization.png → ...ges/lidar_adaption_start_localization.png
diff --git a/...iving/images/lidar_calibration_config.png → ...iving/images/lidar_calibration_config.png b/...iving/images/lidar_calibration_config.png → ...iving/images/lidar_calibration_config.png
diff --git a/.../lidar_calibration_coordinate_picture.png → .../lidar_calibration_coordinate_picture.png b/.../lidar_calibration_coordinate_picture.png → .../lidar_calibration_coordinate_picture.png
diff --git a/.../lidar_calibration_coordinate_system.jpeg → ...s/lidar_calibration_coordinate_system.jpg b/.../lidar_calibration_coordinate_system.jpeg → ...s/lidar_calibration_coordinate_system.jpg
diff --git a/...Driving/images/lidar_calibration_fuel.png → ...Driving/images/lidar_calibration_fuel.png b/...Driving/images/lidar_calibration_fuel.png → ...Driving/images/lidar_calibration_fuel.png
diff --git a/...ing/images/lidar_calibration_imu_look.png → ...ing/images/lidar_calibration_imu_look.png b/...ing/images/lidar_calibration_imu_look.png → ...ing/images/lidar_calibration_imu_look.png
diff --git a/...idar_calibration_localization_config.jpeg → ...lidar_calibration_localization_config.jpg b/...idar_calibration_localization_config.jpeg → ...lidar_calibration_localization_config.jpg
diff --git a/.../images/lidar_calibration_point_cloud.png → .../images/lidar_calibration_point_cloud.png b/.../images/lidar_calibration_point_cloud.png → .../images/lidar_calibration_point_cloud.png
diff --git a/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_calibration_tree1.jpg b/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_calibration_tree1.jpg
diff --git a/...riving/images/lidar_calibration_tree2.png → ...riving/images/lidar_calibration_tree2.png b/...riving/images/lidar_calibration_tree2.png → ...riving/images/lidar_calibration_tree2.png
diff --git a/...riving/images/lidar_calibration_tree3.png → ...riving/images/lidar_calibration_tree3.png b/...riving/images/lidar_calibration_tree3.png → ...riving/images/lidar_calibration_tree3.png
diff --git a/.../images/lidar_calibration_turn_around.png → .../images/lidar_calibration_turn_around.png b/.../images/lidar_calibration_turn_around.png → .../images/lidar_calibration_turn_around.png
diff --git a/...images/lidar_calibration_unauthorized.png → ...images/lidar_calibration_unauthorized.png b/...images/lidar_calibration_unauthorized.png → ...images/lidar_calibration_unauthorized.png
diff --git a/...ng/images/lidar_demonstration_channel.png → ...ng/images/lidar_demonstration_channel.png b/...ng/images/lidar_demonstration_channel.png → ...ng/images/lidar_demonstration_channel.png
diff --git a/...ion/images/camera_adaption_dreamview.jpeg → ...images/lidar_demonstration_dreamview1.jpg b/...ion/images/camera_adaption_dreamview.jpeg → ...images/lidar_demonstration_dreamview1.jpg
diff --git a/...mera_demonstration_dreamview_obstacle.png → ...images/lidar_demonstration_dreamview2.png b/...mera_demonstration_dreamview_obstacle.png → ...images/lidar_demonstration_dreamview2.png
diff --git a/...images/lidar_demonstration_obstacles1.png → ...images/lidar_demonstration_obstacles1.png b/...images/lidar_demonstration_obstacles1.png → ...images/lidar_demonstration_obstacles1.png
diff --git a/...images/lidar_demonstration_obstacles2.png → ...images/lidar_demonstration_obstacles2.png b/...images/lidar_demonstration_obstacles2.png → ...images/lidar_demonstration_obstacles2.png
diff --git a/...g/images/lidar_demonstration_routing1.png → ...g/images/lidar_demonstration_routing1.png b/...g/images/lidar_demonstration_routing1.png → ...g/images/lidar_demonstration_routing1.png
diff --git a/...g/images/lidar_demonstration_routing2.png → ...g/images/lidar_demonstration_routing2.png b/...g/images/lidar_demonstration_routing2.png → ...g/images/lidar_demonstration_routing2.png
diff --git a/...ving/images/lidar_integration_channel.png → ...ving/images/lidar_integration_channel.png b/...ving/images/lidar_integration_channel.png → ...ving/images/lidar_integration_channel.png
diff --git a/...iving/images/lidar_integration_config.png → ...iving/images/lidar_integration_config.png b/...iving/images/lidar_integration_config.png → ...iving/images/lidar_integration_config.png
diff --git a/...mages/lidar_integration_cyber_monitor.png → ...mages/lidar_integration_cyber_monitor.png b/...mages/lidar_integration_cyber_monitor.png → ...mages/lidar_integration_cyber_monitor.png
diff --git a/...images/lidar_integration_installation.png → ...images/lidar_integration_installation.png b/...images/lidar_integration_installation.png → ...images/lidar_integration_installation.png
diff --git a/...o_Driving/images/lidar_integration_ip.png → ...o_Driving/images/lidar_integration_ip.png b/...o_Driving/images/lidar_integration_ip.png → ...o_Driving/images/lidar_integration_ip.png
diff --git a/...riving/images/lidar_integration_line.jpeg → ...Driving/images/lidar_integration_line.jpg b/...riving/images/lidar_integration_line.jpeg → ...Driving/images/lidar_integration_line.jpg
diff --git a/.../lidar_integration_localization_check.png → .../lidar_integration_localization_check.png b/.../lidar_integration_localization_check.png → .../lidar_integration_localization_check.png
diff --git a/...Driving/images/lidar_integration_look.png → ...Driving/images/lidar_integration_look.png b/...Driving/images/lidar_integration_look.png → ...Driving/images/lidar_integration_look.png
diff --git a/.../images/lidar_integration_power_line.jpeg → ...g/images/lidar_integration_power_line.jpg b/.../images/lidar_integration_power_line.jpeg → ...g/images/lidar_integration_power_line.jpg
diff --git a/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_integration_radar_connection.jpg b/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_integration_radar_connection.jpg
diff --git a/...ges/lidar_integration_radar_dreamview.png → ...ges/lidar_integration_radar_dreamview.png b/...ges/lidar_integration_radar_dreamview.png → ...ges/lidar_integration_radar_dreamview.png
diff --git a/...t/Lidar_Based_Auto_Driving/images/lidar_integration_radar_installation_look.jpg b/...t/Lidar_Based_Auto_Driving/images/lidar_integration_radar_installation_look.jpg
diff --git a/...tegration_radar_installation_position.png → ...tegration_radar_installation_position.png b/...tegration_radar_installation_position.png → ...tegration_radar_installation_position.png
diff --git a/...g/images/lidar_integration_radar_line.png → ...g/images/lidar_integration_radar_line.png b/...g/images/lidar_integration_radar_line.png → ...g/images/lidar_integration_radar_line.png
diff --git a/.../images/lidar_integration_radar_look.jpeg → ...g/images/lidar_integration_radar_look.jpg b/.../images/lidar_integration_radar_look.jpeg → ...g/images/lidar_integration_radar_look.jpg
diff --git a/...mages/lidar_integration_radar_picture.png → ...mages/lidar_integration_radar_picture.png b/...mages/lidar_integration_radar_picture.png → ...mages/lidar_integration_radar_picture.png
diff --git a/...ng/images/lidar_integration_radar_pin.png → ...ng/images/lidar_integration_radar_pin.png b/...ng/images/lidar_integration_radar_pin.png → ...ng/images/lidar_integration_radar_pin.png
diff --git a/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_integration_radar_rostopic1.png b/docs/D-kit/Lidar_Based_Auto_Driving/images/lidar_integration_radar_rostopic1.png
diff --git a/...ges/lidar_integration_radar_rostopic2.png → ...ges/lidar_integration_radar_rostopic2.png b/...ges/lidar_integration_radar_rostopic2.png → ...ges/lidar_integration_radar_rostopic2.png
diff --git a/...ges/lidar_integration_radar_rostopic3.png → ...ges/lidar_integration_radar_rostopic3.png b/...ges/lidar_integration_radar_rostopic3.png → ...ges/lidar_integration_radar_rostopic3.png
diff --git a/...ges/lidar_integration_radar_rostopic4.png → ...ges/lidar_integration_radar_rostopic4.png b/...ges/lidar_integration_radar_rostopic4.png → ...ges/lidar_integration_radar_rostopic4.png
diff --git a/.../lidar_integration_radar_verify_excel.png → .../lidar_integration_radar_verify_excel.png b/.../lidar_integration_radar_verify_excel.png → .../lidar_integration_radar_verify_excel.png
diff --git a/...idar_integration_radar_verify_picture.png → ...idar_integration_radar_verify_picture.png b/...idar_integration_radar_verify_picture.png → ...idar_integration_radar_verify_picture.png
diff --git a/...riving/images/lidar_integration_slot.jpeg → ...Driving/images/lidar_integration_slot.jpg b/...riving/images/lidar_integration_slot.jpeg → ...Driving/images/lidar_integration_slot.jpg
diff --git a/.../images/lidar_integration_start_lidar.png → .../images/lidar_integration_start_lidar.png b/.../images/lidar_integration_start_lidar.png → .../images/lidar_integration_start_lidar.png
diff --git a/...dar_integration_start_lidar_closeloop.png → ...dar_integration_start_lidar_closeloop.png b/...dar_integration_start_lidar_closeloop.png → ...dar_integration_start_lidar_closeloop.png
diff --git a/...mages/camera_demonstration_dreamview.jpeg → .../images/planning_adaptation_dreamview.jpg b/...mages/camera_demonstration_dreamview.jpeg → .../images/planning_adaptation_dreamview.jpg
diff --git a/...ra_demonstration_perception_obstacle1.png → .../images/planning_adaptation_obstacle1.png b/...ra_demonstration_perception_obstacle1.png → .../images/planning_adaptation_obstacle1.png
diff --git a/...ra_demonstration_perception_obstacle2.png → .../images/planning_adaptation_obstacle2.png b/...ra_demonstration_perception_obstacle2.png → .../images/planning_adaptation_obstacle2.png
diff --git a/docs/D-kit/Lidar_Based_Auto_Driving/images/planning_adaptation_planning.png b/docs/D-kit/Lidar_Based_Auto_Driving/images/planning_adaptation_planning.png
diff --git a/...es/camera_demonstration_planning_data.png → .../planning_adaptation_planning_channel.png b/...es/camera_demonstration_planning_data.png → .../planning_adaptation_planning_channel.png
diff --git a/...era_demonstration_dreamview_planning1.png → ...g/images/planning_adaptation_routing1.png b/...era_demonstration_dreamview_planning1.png → ...g/images/planning_adaptation_routing1.png
diff --git a/...era_demonstration_dreamview_planning2.png → ...g/images/planning_adaptation_routing2.png b/...era_demonstration_dreamview_planning2.png → ...g/images/planning_adaptation_routing2.png
diff --git a/...ng/images/sensor_calibration_recorder.png → ...ng/images/sensor_calibration_recorder.png b/...ng/images/sensor_calibration_recorder.png → ...ng/images/sensor_calibration_recorder.png
diff --git a/...uto_Driving/images/virtual_lane_email.png → ...uto_Driving/images/virtual_lane_email.png b/...uto_Driving/images/virtual_lane_email.png → ...uto_Driving/images/virtual_lane_email.png
diff --git a/...Auto_Driving/images/virtual_lane_fuel.png → ...Auto_Driving/images/virtual_lane_fuel.png b/...Auto_Driving/images/virtual_lane_fuel.png → ...Auto_Driving/images/virtual_lane_fuel.png
diff --git a/...uto_Driving/images/virtual_lane_tree1.png → ...uto_Driving/images/virtual_lane_tree1.png b/...uto_Driving/images/virtual_lane_tree1.png → ...uto_Driving/images/virtual_lane_tree1.png
diff --git a/...uto_Driving/images/virtual_lane_tree2.png → ...uto_Driving/images/virtual_lane_tree2.png b/...uto_Driving/images/virtual_lane_tree2.png → ...uto_Driving/images/virtual_lane_tree2.png
diff --git a/...to_Driving/Perception_Configuration_cn.md → ...to_Driving/perception_configuration_cn.md b/...to_Driving/Perception_Configuration_cn.md → ...to_Driving/perception_configuration_cn.md
@@ -20,11 +20,11 @@
 
 ## 前提条件
 
- 1. 正确完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/Start_Waypoint_Following_cn.md)
+ 1. 正确完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/start_waypoint_following_cn.md)
 
- 2. 正确完成了[基于激光雷达的封闭园区自动驾驶搭建--感知设备集成](Sensor_Integration_cn.md)
+ 2. 正确完成了[基于激光雷达的封闭园区自动驾驶搭建--感知设备集成](sensor_integration_cn.md)
 
- 3. 正确完成了[基于激光雷达的封闭园区自动驾驶搭建--感知设备标定](Sensor_Calibration_cn.md)
+ 3. 正确完成了[基于激光雷达的封闭园区自动驾驶搭建--感知设备标定](sensor_calibration_cn.md)
 
 ## 配置文件的修改
 
@@ -94,7 +94,7 @@
 如果在dreamview上能看到障碍物并且`/apollo/perception/obstacles`有障碍物信息，则开环测试通过。
 
 ## NEXT
-现在，您已经完成激光雷达感知适配，接下来可以开始[封闭园区自动驾驶搭建--规划适配](Planning_Configuration_cn.md)
+现在，您已经完成激光雷达感知适配，接下来可以开始[封闭园区自动驾驶搭建--规划适配](planning_configuration_cn.md)
 
 ## 常见问题
 #### 1. 感知的输出帧率达不到10帧

diff --git a/...Auto_Driving/Planning_Configuration_cn.md → ...Auto_Driving/planning_configuration_cn.md b/...Auto_Driving/Planning_Configuration_cn.md → ...Auto_Driving/planning_configuration_cn.md
@@ -15,8 +15,8 @@
 该用户手册旨在帮助用户完成规划模块的配置和开环验证。规划模块需要上游的感知数据，目前有Lidar感知和Camera感知两种方案，用户可以选择其中任意一种感知方案。
 ## 前提条件
 
-  - 完成了[基于激光雷达的封闭园区自动驾驶搭建--感知适配](Perception_Configuration_cn.md)或[基于摄像头的封闭园区自动驾驶搭建--感知适配](../Camera_Based_Auto_Driving/Perception_Configuration_cn.md)
-  - 完成了[封闭园区自动驾驶搭建--虚拟车道线制作](Virtual_Lane_Generation_cn.md)
+  - 完成了[基于激光雷达的封闭园区自动驾驶搭建--感知适配](perception_configuration_cn.md)或[基于摄像头的封闭园区自动驾驶搭建--感知适配](../Camera_Based_Auto_Driving/perception_configuration_cn.md)
+  - 完成了[封闭园区自动驾驶搭建--虚拟车道线制作](virtual_lane_generation_cn.md)
 
 ## 配置文件的修改
 对`/apollo/modules/planning/conf/planning.conf`和`/apollo/modules/planning/conf/planning_config.pb.txt`两个配置文件进行以下修改：
@@ -49,8 +49,8 @@
 
 
 #### 2. 启动感知
-- 如果用户使用Lidar感知方案，请参照[基于激光雷达的封闭园区自动驾驶搭建--感知适配](Perception_Configuration_cn.md)启动Lidar感知
-- 如果用户使用Camera感知方案，请参照[基于摄像头的封闭园区自动驾驶搭建--感知适配](../Camera_Based_Auto_Driving/Perception_Configuration_cn.md)启动Camera感知
+- 如果用户使用Lidar感知方案，请参照[基于激光雷达的封闭园区自动驾驶搭建--感知适配](perception_configuration_cn.md)启动Lidar感知
+- 如果用户使用Camera感知方案，请参照[基于摄像头的封闭园区自动驾驶搭建--感知适配](../Camera_Based_Auto_Driving/perception_configuration_cn.md)启动Camera感知
 
 #### 3. 启动 Planning、Prediction、Routing、Control模块
 确保感知模块启动成功后，在Module Controller标签页启动Planning、Prediction、Routing、Control模块。
@@ -80,4 +80,4 @@
 如果出现上图所示轨迹线和topic信息，表示规划模块适配和开环测试通过，否则继续查看log信息进行调试。
 
 ## NEXT
-现在，您已经完成规划适配，根据您适配的是Lidar感知方案还是Camera感知方案，接下来可以开始[基于激光雷达的封闭园区自动驾驶搭建--自动驾驶演示](Start_Auto_Driving_cn.md)或[基于摄像头的封闭园区自动驾驶搭建--自动驾驶演示](../Camera_Based_Auto_Driving/Start_Auto_Driving_cn.md)
+现在，您已经完成规划适配，根据您适配的是Lidar感知方案还是Camera感知方案，接下来可以开始[基于激光雷达的封闭园区自动驾驶搭建--自动驾驶演示](start_auto_driving_cn.md)或[基于摄像头的封闭园区自动驾驶搭建--自动驾驶演示](../Camera_Based_Auto_Driving/start_auto_driving_cn.md)
diff --git a/...sed_Auto_Driving/Sensor_Calibration_cn.md → ...sed_Auto_Driving/sensor_calibration_cn.md b/...sed_Auto_Driving/Sensor_Calibration_cn.md → ...sed_Auto_Driving/sensor_calibration_cn.md
@@ -34,12 +34,12 @@
 该用户手册旨在帮助用户完成激光雷达的标定(Lidar-IMU)
 ## 前提条件
 
- - 完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/Start_Waypoint_Following_cn.md)
+ - 完成了[循迹搭建--车辆循迹演示](../Waypoint_Following/start_waypoint_following_cn.md)
 
- - 完成了[基于激光雷达的封闭园区自动驾驶搭建--感知设备集成](Sensor_Integration_cn.md)
+ - 完成了[基于激光雷达的封闭园区自动驾驶搭建--感知设备集成](sensor_integration_cn.md)
 
 ## 百度云对象存储BOS注册
-注册方法参考[百度云对象存储BOS注册与基本使用向导](../../Apollo_Fuel/Apply_BOS_Account_cn.md) 
+注册方法参考[百度云对象存储BOS注册与基本使用向导](../../Apollo_Fuel/apply_bos_account_cn.md) 
 ## 开通云服务账号
 请与商务部门联系开通云服务账号，需要提供上一步骤中注册的`Bucket名称`、`所属地域`和用户邮箱信息
 ## 修改配置文件
@@ -48,7 +48,7 @@
 |---|---|
 | `modules/localization/conf/localization.conf`|`enable_lidar_localization`设置为`false`| 
 
-![lidar_calibration_localization_config](images/lidar_calibration_localization_config.jpeg)
+![lidar_calibration_localization_config](images/lidar_calibration_localization_config.jpg)
 
 **注意**：所有传感器标定完成后，如果用户要使用msf定位，则需要再改为`true`。
 
@@ -58,7 +58,7 @@
 
 ####  1. IMU、Lidar的坐标系定义
 
- ![lidar_calibration_coordinate_system](images/lidar_calibration_coordinate_system.jpeg)
+ ![lidar_calibration_coordinate_system](images/lidar_calibration_coordinate_system.jpg)
 
 #### 2. Lidar坐标系原点在传感器的位置
 
@@ -111,7 +111,7 @@ IMU坐标系原点位于IMU的几何中心上(中心点在Z轴方向上的位置
 | VLP-16    |  /apollo/sensor/lidar16/PointCloud2   | 10            |
 | Localization       | /apollo/localization/pose             | 100           |
 
-为获取上述`channel`，需要正确启动Apollo环境及dreamview，在dreamview中选择模式为`Dev Kit Debug`， 选择车型为`Dev Kit`，并在dreamview中启动启动`GPS`、`Localization`、`lidar`三个模块，可参考[基于激光雷达的封闭园区自动驾驶搭建--感知设备集成](../Lidar_Based_Auto_Driving/Sensor_Integration_cn.md)
+为获取上述`channel`，需要正确启动Apollo环境及dreamview，在dreamview中选择模式为`Dev Kit Debug`， 选择车型为`Dev Kit`，并在dreamview中启动启动`GPS`、`Localization`、`lidar`三个模块，可参考[基于激光雷达的封闭园区自动驾驶搭建--感知设备集成](../Lidar_Based_Auto_Driving/sensor_integration_cn.md)
 
 **注意**：在正式开始录制前，务必确保以上channel能正常输出数据。
 
@@ -222,7 +222,7 @@ budaoshi@in_dev_docker:/apollo/modules/tools/sensor_calibration$ python extract_
 确认邮件得到的外参文件合理后，将邮件发送的外参文件的`rotation`、`translation`的值替换掉`modules/calibration/data/dev_kit/velodyne_params/velodyne16_novatel_extrinsics.yaml`中对应的`rotation`、`translation`值。注意不要修改`frame_id`、不要直接替换文件。
 
 ## NEXT
-现在，您已经完成激光雷达感知设备标定，接下来可以开始[封闭园区自动驾驶搭建--虚拟车道线制作](Virtual_Lane_Generation_cn.md)
+现在，您已经完成激光雷达感知设备标定，接下来可以开始[封闭园区自动驾驶搭建--虚拟车道线制作](virtual_lane_generation_cn.md)
 
 ## 常见问题
 #### 1. 提交后，显示`UNAUTHORIZED`,如下图所示