MIAMI — A Miami judge has agreed to modify bail conditions on tax charges so Helio Castroneves can race later this month in Australia.

The Brazilian race car driver and 2007 "Dancing With The Stars" champ had been barred from leaving the United States. A judge granted Castroneves' request Friday to travel to Brisbane, Australia so he can drive in the Oct. 26 race. Prosecutors may still appeal that order.

Castroneves was indicted last week on federal conspiracy and tax evasion charges and is free on $10 million bail. Prosecutors say Castroneves used offshore accounts to hide millions of dollars in income from the Internal Revenue Service.

Castroneves insists he is innocent and that he relied on advice from tax experts for his financial dealings.