correct several translation mistakes and add a missing picture (#4984)

* committed a file into the wrong directory on June 9

This is a stupid mistake, I found that there missed one chinese version file that I committed yesterday, finally I realized that it was in the wrong directory. The fact that it isn't in the right place can cause a real problem, because all pictures can not be shown. So please merge this modification.

* Create coordination_cn.md

* 4 new pictures for coordination_cn.md

* Update coordination_cn.md

* Update apollo_3.0_technical_tutorial_cn.md

* Update apollo_3_0_quick_start_cn.md

* Update dreamview_usage_table_cn.md

* Update README_cn.md

* Update apollo_3_0_hardware_system_installation_guide_cn.md

* Update README_cn.md

* Update apollo_3.0_technical_tutorial_cn.md

* commit a mising picture

* Update Class_Architecture_Planning_cn.md

* Update Class_Architecture_Planning.md

* Update apollo_3_0_hardware_system_installation_guide.md

* Update apollo_1_5_hardware_system_installation_guide_cn.md

* Update Guideline_sensor_Installation_apollo_3.0_cn.md

* Update qp_spline_path_optimizer_cn.md

* Update qp_spline_st_speed_optimizer.md

docs/quickstart/apollo_1_5_hardware_system_installation_guide_cn.md

@@ -17,7 +17,7 @@
 | ![info](https://raw.githubusercontent.com/ApolloAuto/apollo/master/docs/quickstart/images/info_icon.png)       | **Info**  包含可能有用的信息。忽略信息图标没有消极的后果。 |
 | ![tip](https://raw.githubusercontent.com/ApolloAuto/apollo/master/docs/quickstart/images/tip_icon.png)         | **Tip**. 包括有用的提示或可能有助于完成任务的快捷方式。 |
 | ![online](https://raw.githubusercontent.com/ApolloAuto/apollo/master/docs/quickstart/images/online_icon.png)   | **Online**. 提供指向特定网站的链接，您可以在其中获取更多信息。 |
-| ![warning](https://raw.githubusercontent.com/ApolloAuto/apollo/master/docs/quickstart/images/warning_icon.png) | **Warning**. 包含**不能忽略**的信息，或者执行某个任务或步骤时，您将面临风险。 |
+| ![warning](https://raw.githubusercontent.com/ApolloAuto/apollo/master/docs/quickstart/images/warning_icon.png) | **Warning**. 包含**不能忽略**的信息，否则执行某个任务或步骤时，您将面临风险。 |
 
 ## 引言
 阿波罗计划是为汽车和自主驾驶行业的合作伙伴提供开放，完整和可靠的软件平台。该项目的目的是使合作伙伴能够基于Apollo软件堆栈开发自己的自动驾驶系统。

docs/quickstart/apollo_3_0_hardware_system_installation_guide.md

@@ -69,7 +69,7 @@ The key hardware components to install include:
 
 - Onboard computer system ─ Neousys Nuvo-6108GC
 - Controller Area Network (CAN) Card ─ ESD CAN-PCIe/402-B4
-- General Positioning System (GPS) and Inertial Measurement Unit (IMU) ─
+- Global Positioning System (GPS) and Inertial Measurement Unit (IMU) ─
   You can select one of the following options:
   - NovAtel SPAN-IGM-A1
   - NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1

docs/specs/Class_Architecture_Planning.md

@@ -47,7 +47,7 @@ Each predicted trajectory has a probability associated with it, and one obstacle
 
 In addition to the query concepts “where I want to go” and “what is surrounding me”, another important query concept is “where am I”. Such information is obtained from the HD-Map and Localization modules. Both localization and vehicle chassis information are incorporated in the messages of `VehicleState` that is defined in the `vehicle_state.proto`, as shown below.
 
-![img](file://localhost/private/var/folders/1n/hnpps_ps0gl_pw_g_69ds93m0000gp/T/TemporaryItems/msoclip/0/clip_image012.png)
+![img](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/images/class_architecture_planning/image009.png)
 
 ## Code Structure and Class Hierarchy
 

docs/specs/Class_Architecture_Planning_cn.md

@@ -48,7 +48,7 @@ Routing定义了概念性问题“我想去哪儿”，消息定义在`routing.p
 
 除了概念性问题“我想去哪儿”和“我周围有什么”，另外一个重要的概念性问题是“我在哪”。关于该问题的数据通过高清地图和定位模块获得。定位信息和车辆车架信息被封装在`VehicleState`消息中，该消息定义在`vehicle_state.proto`，参考下述图片：
 
-![img](file://localhost/private/var/folders/1n/hnpps_ps0gl_pw_g_69ds93m0000gp/T/TemporaryItems/msoclip/0/clip_image012.png)
+![img](https://github.com/ApolloAuto/apollo/blob/master/docs/specs/images/class_architecture_planning/image009.png)
 
 ## 代码结构和类层次
 

docs/specs/Guideline_sensor_Installation_apollo_3.0_cn.md

@@ -12,7 +12,7 @@
 
 单位：毫米（mm）
 
-原点：后车轮毂中心
+原点：车辆后轮轴中心
 
 ![Image](images/perception_setup_figure1.png)
 

docs/specs/qp_spline_path_optimizer_cn.md

@@ -14,7 +14,7 @@ _**Tip**: 为了更好的展示本文档中的等式，我们建议使用者使
 
 将路径划分为**n**段，每段路径用一个多项式来表示。
 
-### 1.3  样条段默认函数
+### 1.3  定义样条段函数
 
 每个样条段 ***i*** 都有沿着参考线的累加距离$d_i$。每段的路径默认用5介多项式表示。
 
@@ -25,7 +25,7 @@ l = f_i(s)
 $$
 </p>
 
-### 1.4  每个样条段优化的默认目标函数
+### 1.4  定义每个样条段优化目标函数
 
 <p>
 $$

docs/specs/qp_spline_st_speed_optimizer.md

@@ -21,11 +21,11 @@ $$
 
 ## 2  Objective function
 
-### 1.1  Get spline segments
+### 2.1  Get spline segments
 
 Split the S-T profile into **n** segments. Each segment trajectory is defined by a polynomial.
 
-### 1.2  Define function for each spline segment
+### 2.2  Define function for each spline segment
 
 Each segment ***i*** has an accumulated distance $d_i$ along a reference line. And the trajectory for the segment is defined as a polynomial of degree five by default. The degree of the polynomials are adjustable by configuration parameters.
 
@@ -36,7 +36,7 @@ s = f_i(t)
 $$
 </p>
 
-### 1.3  Define  objective function of optimization for each segment
+### 2.3  Define  objective function of optimization for each segment
 
 Apollo first defines $cost_1$ to make the trajectory smooth: 
 <p>
@@ -110,7 +110,7 @@ $$
 
 ### 3.3  Joint smoothness  constraints
 
-This constraint is designed to smooth the spline joint.  Given the assumption that two segments, $seg_k$ and $seg_{k+1}$, are connected, and the accumulated **s** of segment is $seg_k$ is $s_k$,  Apollo calculates the constraint equation as: 
+This constraint is designed to smooth the spline joint.  Given the assumption that two segments, $seg_k$ and $seg_{k+1}$, are connected, and the accumulated **s** of segment $seg_k$ is $s_k$,  Apollo calculates the constraint equation as: 
 <p>
 $$
 f_k(t_k) = f_{k+1} (t_0)