diff --git a/planning/behavior_path_avoidance_module/README.md b/planning/behavior_path_avoidance_module/README.md
index 74dd8faaf3644..1a2eb47c34431 100644
--- a/planning/behavior_path_avoidance_module/README.md
+++ b/planning/behavior_path_avoidance_module/README.md
@@ -325,21 +325,18 @@ $$
 
 ### Overview
 
-| Situation                                                                                                                        | Details                                                     | Ego behavior                     |
-| -------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | -------------------------------- |
-| Vehicle is within intersection area defined in HDMap. The module ignores vehicle which is following lane or merging to ego lane. | ![fig](./images/target_filter/never_avoid_intersection.png) | Never avoid it.                  |
-| Vehicle is on ego lane. There are adjacent lanes for both side.                                                                  | ![fig](./images/target_filter/never_avoid_not_edge.png)     | Never avoid it.                  |
-| Vehicle is merging to other lane from ego lane. Most part of its footprint is on ego lane.                                       | ![fig](./images/target_filter/never_avoid_deviating.png)    | Never avoid it.                  |
-| Vehicle is merging to ego lane from other lane. Most part of its footprint is on ego lane.                                       | ![fig](./images/target_filter/never_avoid_merging.png)      | Never avoid it.                  |
-| Vehicle is not a obvious parked vehicle and stopping in front of the crosswalk or traffic light.                                 | ![fig](./images/target_filter/never_avoid_stop_factor.png)  | Never avoid it.                  |
-| Vehicle stops on ego lane with pulling over to the side of the road.                                                             | ![fig](./images/target_filter/avoid_on_ego_lane.png)        | Avoid it immediately.            |
-| Vehicle stops on adjacent lane.                                                                                                  | ![fig](./images/target_filter/avoid_not_on_ego_lane.png)    | Avoid it immediately.            |
-| Vehicle stops on ego lane without pulling over to the side of the road.                                                          | ![fig](./images/target_filter/ambiguous_parallel.png)       | It depends on parameter setting. |
-| Vehicle is merging to ego lane from other lane.                                                                                  | ![fig](./images/target_filter/ambiguous_merging.png)        | It depends on parameter setting. |
-| Vehicle is merging to other lane from ego lane.                                                                                  | ![fig](./images/target_filter/ambiguous_deviating.png)      | It depends on parameter setting. |
-
-!!! info
-Set the parameter `avoidance_for_ambiguous_vehicle.enable` to `true`, the module avoids ambiguous vehicle.
+| Situation                                                                                                                        | Details                                                     | Ego behavior                                                                                               |
+| -------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- |
+| Vehicle is within intersection area defined in HDMap. The module ignores vehicle which is following lane or merging to ego lane. | ![fig](./images/target_filter/never_avoid_intersection.png) | Never avoid it.                                                                                            |
+| Vehicle is on ego lane. There are adjacent lanes for both side.                                                                  | ![fig](./images/target_filter/never_avoid_not_edge.png)     | Never avoid it.                                                                                            |
+| Vehicle is merging to other lane from ego lane. Most part of its footprint is on ego lane.                                       | ![fig](./images/target_filter/never_avoid_deviating.png)    | Never avoid it.                                                                                            |
+| Vehicle is merging to ego lane from other lane. Most part of its footprint is on ego lane.                                       | ![fig](./images/target_filter/never_avoid_merging.png)      | Never avoid it.                                                                                            |
+| Vehicle is not a obvious parked vehicle and stopping in front of the crosswalk or traffic light.                                 | ![fig](./images/target_filter/never_avoid_stop_factor.png)  | Never avoid it.                                                                                            |
+| Vehicle stops on ego lane with pulling over to the side of the road.                                                             | ![fig](./images/target_filter/avoid_on_ego_lane.png)        | Avoid it immediately.                                                                                      |
+| Vehicle stops on adjacent lane.                                                                                                  | ![fig](./images/target_filter/avoid_not_on_ego_lane.png)    | Avoid it immediately.                                                                                      |
+| Vehicle stops on ego lane without pulling over to the side of the road.                                                          | ![fig](./images/target_filter/ambiguous_parallel.png)       | Set the parameter `avoidance_for_ambiguous_vehicle.enable` to `true`, the module avoids ambiguous vehicle. |
+| Vehicle is merging to ego lane from other lane.                                                                                  | ![fig](./images/target_filter/ambiguous_merging.png)        | Set the parameter `avoidance_for_ambiguous_vehicle.enable` to `true`, the module avoids ambiguous vehicle. |
+| Vehicle is merging to other lane from ego lane.                                                                                  | ![fig](./images/target_filter/ambiguous_deviating.png)      | Set the parameter `avoidance_for_ambiguous_vehicle.enable` to `true`, the module avoids ambiguous vehicle. |
 
 ### Object filtering flowchart