diff --git a/docs/developer_guide/lane_pose_calculation/UpdateFrame.md b/docs/developer_guide/lane_pose_calculation/UpdateFrame.md
index 306c6b4eb51..deada1eefbe 100644
--- a/docs/developer_guide/lane_pose_calculation/UpdateFrame.md
+++ b/docs/developer_guide/lane_pose_calculation/UpdateFrame.md
@@ -47,8 +47,8 @@ The procedure for calculating the pose in the lane coordinate system at this tim
 
 If lane matching was successful in the previous frame, do 1, otherwise do 2
 
-1.[Set the length of the horizontal bar to 2.0 and calculate the pose in the lane coordinate system](https://github.com/tier4/scenario_simulator_v2/blob/5f19d39ef29243396f26225976975f0c27914c12/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp#L72-L77)  
-2.[Calculate the pose in the lane coordinate system considering the size of the BoundingBox of the Entity](https://github.com/tier4/scenario_simulator_v2/blob/5f19d39ef29243396f26225976975f0c27914c12/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp#L79-L83)  
+1.[Set the length of the horizontal bar to 2.0 + the witdh of the bounding box and calculate the pose in the lane coordinate system](https://github.com/tier4/scenario_simulator_v2/blob/a2c04ee2446f80aeacfe59fc87a6737ae18692cc/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp#L72-L77)  
+2.[Calculate the pose in the lane coordinate system considering the size of the BoundingBox of the Entity](https://github.com/tier4/scenario_simulator_v2/blob/a2c04ee2446f80aeacfe59fc87a6737ae18692cc/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp#L79-L85)  
 
 If calculation 1 or 2 fails,  
 3.[Set the length of the horizontal bar to 4.0 and calculate the pose in the lane coordinate system](https://github.com/tier4/scenario_simulator_v2/blob/5f19d39ef29243396f26225976975f0c27914c12/simulation/behavior_tree_plugin/src/pedestrian/pedestrian_action_node.cpp#L86-L91)