diff --git a/docs/design/autoware-interfaces/ad-api/features/fail-safe.md b/docs/design/autoware-interfaces/ad-api/features/fail-safe.md
index 355c402bac8..9e0c7ebe66b 100644
--- a/docs/design/autoware-interfaces/ad-api/features/fail-safe.md
+++ b/docs/design/autoware-interfaces/ad-api/features/fail-safe.md
@@ -41,3 +41,4 @@ This is service dependent. Autoware supports the following transitions by defaul
 | NONE             | MRM is not operating or is operating but no special behavior is required. |
 | COMFORTABLE_STOP | The vehicle will stop quickly with a comfortable deceleration.            |
 | EMERGENCY_STOP   | The vehicle will stop immediately with as much deceleration as possible.  |
+| PULL_OVER        | The vehicle will stop after moving to the side of the road.               |
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index f27c8da5e81..60ad3790edc 100644
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