Merge branch 'RT1-9044-update-lane-change-documentation' of https://g…

…ithub.com/tier4/autoware.universe into RT1-9044-update-lane-change-documentation
autowarefoundation · Jan 21, 2025 · 26e6f17 · 26e6f17
2 parents 70b4689 + f3b930b
commit 26e6f17
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md
@@ -630,8 +630,8 @@ stop
 
 A candidate path is considered safe if:
 
-1. There is no overtaking turn lane object (see Overtaking Object Check section below)
-2. There is no parked vehicle along the target lane ahead of ego (see Delay Lane Change Check section below)
+1. There are no overtaking objects when the ego vehicle exits the turn-direction lane. (see [Overtaking Object Check](#overtaking-object-check))
+2. There is no parked vehicle along the target lane ahead of ego (see [Delay Lane Change Check](#delay-lane-change-check))
 3. The path does NOT cause ego footprint to exceed the target lane opposite boundary
 4. The path passes collision safety check (See [safety check utils explanation](../autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md))