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Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…
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…nge_module/README.md

Co-authored-by: Zulfaqar Azmi <[email protected]>
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mkquda and zulfaqar-azmi-t4 authored Jan 21, 2025
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A candidate path is considered safe if:

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 section below)
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))

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