update documentation

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

Author: danielsanchezaran

planning/behavior_path_start_planner_module/README.md

@@ -433,16 +433,17 @@ Pull out distance is calculated by the speed, lateral deviation, and the lateral
 
 #### parameters for shift pull out
 
-| Name                            | Unit   | Type   | Description                                                                                                          | Default value |
-| :------------------------------ | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ |
-| enable_shift_pull_out           | [-]    | bool   | flag whether to enable shift pull out                                                                                | true          |
-| check_shift_path_lane_departure | [-]    | bool   | flag whether to check if shift path footprints are out of lane                                                       | false         |
-| shift_pull_out_velocity         | [m/s]  | double | velocity of shift pull out                                                                                           | 2.0           |
-| pull_out_sampling_num           | [-]    | int    | Number of samplings in the minimum to maximum range of lateral_jerk                                                  | 4             |
-| maximum_lateral_jerk            | [m/s3] | double | maximum lateral jerk                                                                                                 | 2.0           |
-| minimum_lateral_jerk            | [m/s3] | double | minimum lateral jerk                                                                                                 | 0.1           |
-| minimum_shift_pull_out_distance | [m]    | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0           |
-| maximum_curvature               | [m]    | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value.             | 0.07          |
+| Name                                           | Unit   | Type   | Description                                                                                                          | Default value |
+| :--------------------------------------------- | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ |
+| enable_shift_pull_out                          | [-]    | bool   | flag whether to enable shift pull out                                                                                | true          |
+| check_shift_path_lane_departure                | [-]    | bool   | flag whether to check if shift path footprints are out of lane                                                       | true          |
+| allow_check_shift_path_lane_departure_override | [-]    | bool   | flag to override/cancel lane departure check if the ego vehicle's starting pose is already out of lane               | false         |
+| shift_pull_out_velocity                        | [m/s]  | double | velocity of shift pull out                                                                                           | 2.0           |
+| pull_out_sampling_num                          | [-]    | int    | Number of samplings in the minimum to maximum range of lateral_jerk                                                  | 4             |
+| maximum_lateral_jerk                           | [m/s3] | double | maximum lateral jerk                                                                                                 | 2.0           |
+| minimum_lateral_jerk                           | [m/s3] | double | minimum lateral jerk                                                                                                 | 0.1           |
+| minimum_shift_pull_out_distance                | [m]    | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0           |
+| maximum_curvature                              | [m]    | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value.             | 0.07          |
 
 ### **geometric pull out**