[schreck61]

Several descriptions of the cooperative crossing, and two module comments, said things the 0.5.1 code doesn't do. Each change below was checked against the code first.

README, docs/insights.md and the app's text

• Who asks for a slot: in each lane the manager considers only the first vehicle without a trajectory, and right turns never ask. Vehicles don't ask "when they enter the map".
• First come, first served: of those lane heads, the one that could cross the stop line soonest goes next, not the first to arrive.
• Nominal gap: it covers the two message latencies and the 0.3 s actuation delay (0.5 s), not latency alone. The app's label becomes Nominal: latency and actuation (no failures), and docs/architecture.md quotes the new label.
• Switching cost: about 2.1 s, since the code's reservation zones are about 3.2 m at a right angle (2.2 s assumed 3.5 m).
• Batch join window: the hover text says the window comes on top of the vehicle's own headway.
• Ground-truth exceptions: pedestrians and emergency vehicles reach the SensorView straight from ground truth, whichever sensors are fitted. The README, sensors.rs and docs/architecture.md now all say so, and that controllers use the pedestrian figures (not camera counts) while only Sim's preemption reads the emergency vehicles.

docs/cooperative-intersections.md

• The P2 gap at 40 km/h is 1.43 s throughout; cim_numbers.py notes why it prints 1.42 s at 11.1 m/s.
• The median is 4 m and the slip lane leaves about 25 m before the stop line, as in network.rs.
• Appendix A: P1 is 2δ + tᵣ without the extra max(0, …) term, and a new list gives where the code's parameters differ from the estimates (δ and tᵣ, the CACC gap, deceleration, P1 and the zone width).
• A header note and short notes in sections 3.5, 6, 6.6–6.8 and 12.1 say what isn't built: the approach zones A–E and the authority point, the elevated ring and the roadside equipment.
• plan-view.svg is titled "Reference design (section 6)", and the plan's caption says how the app's crossing differs.

ACCESSIBILITY.md

• The pointer-only tasks are panning and zooming the map, selecting a vehicle, placing a pedestrian at a crosswalk corner and the charts' hover readouts. "Placing sensors" isn't a feature.
• Reviewed for 0.5.1; the GUI didn't change between 0.5.0 and 0.5.1.

Comments

• coop.rs: the module doc describes the lane-head queue; the gap doc says v / 2b, the time to cover the braking distance at entry speed, which is what the code computes.
• sensors.rs: the module doc no longer credits the camera with pedestrian counts or lists the preemption receivers as a sensor; it gives the same ground-truth exceptions as the README and docs/architecture.md.

Screenshots

Every image that showed the old manager description or sensor note, or the Signal timing chart from before PR 15, was retaken from this branch on top of PR 15 with the scripted-screenshot settings in Appendix A of docs/architecture.md. They were found by OCR over docs/*.png and docs/images/architecture/*.png.

• coop-manager.png and sensors.png: the same crops of new captures. coop-manager.png is 50 px taller for the longer description.
• coop.png and overview.png: only the changed parts come from new captures (the manager section on coop.png; the sensor note and the bottom panel on overview.png), so the hand-drawn callouts stay. Callout 1 on coop.png is extended to frame the taller section. The new bottom panel matches timeline.png pixel for pixel, since both show the same moment.
• In docs/images/architecture, coop-compare.png, compare.png and corridor.png, and the README's arterial.png, compare.png, corridor.png and cooperative.png: new captures with the same settings and framing. The README images came from an older UI, so they also pick up the current layout and spelling. Appendix A now lists their settings.
• timeline.png is unchanged; PR 15 retook it.

Not in this PR

• docs/roundabout.png isn't referenced anywhere and is left in place for now. It still shows the old sensor note.

Testing

• cargo test --locked --release
• cargo clippy --locked --release --all-targets -- -D warnings and the wasm32 clippy run
• python3 docs/cooperative-scripts/make_figures.py <dir> reproduces both committed SVGs byte for byte
• OCR over every image finds the old strings only in the unreferenced docs/roundabout.png