docs(lane_change): update documentation (#6544)

* docs(lane_change): update documentation

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* update validity check flow chart

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* explanation for the valid paths

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* Add prerequisite in the requirement

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* update diagram

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* Edit the parameters

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* Explaining lane expansion

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* fix lane expansion document

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

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Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>