# User story of taxi service

## Overview

This user story is a taxi service that picks up passengers and drives them to their destination.

## Scenario

| Step | Operation | Use case |
| --- | --- | --- |
| 1 | Start up the autonomous driving system. | [Launch and terminate](<../../use-cases/launch-terminate/index.md>) |
| 2 | Drive the vehicle from the garage to the waiting position. | [Change the operation mode](<../../use-cases/change-operation-mode/index.md>) |
| 3 | Initialize the pose of the vehicle. | [Initialize the pose](<../../use-cases/initialize-pose/index.md>) |
| 4 | Enable autonomous control. | [Change the operation mode](<../../use-cases/change-operation-mode/index.md>) |
| 5 | Drive the vehicle to the position to pick up. | [Drive to the designated position](<../../use-cases/drive-designated-position/index.md>) |
| 6 | Get on the vehicle. | [Get on and get off](<../../use-cases/get-on-off/index.md>) |
| 7 | Drive the vehicle to the destination. | [Drive to the designated position](<../../use-cases/drive-designated-position/index.md>) |
| 8 | Get off the vehicle. | [Get on and get off](<../../use-cases/get-on-off/index.md>) |
| 9 | Drive the vehicle to the waiting position. | [Drive to the designated position](<../../use-cases/drive-designated-position/index.md>) |
| 10 | Return to step 5 if there is another request. |  |
| 11 | Drive the vehicle from the waiting position to the garage. | [Change the operation mode](<../../use-cases/change-operation-mode/index.md>) |
| 12 | Shut down the autonomous driving system. | [Launch and terminate](<../../use-cases/launch-terminate/index.md>) |