chore: minor fix

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/geometry.cpp

@@ -70,8 +70,8 @@ void buildSlices(
   const double ratio_dist_increment = std::min(1.0, slice_width / std::abs(range.max_distance));
   lanelet::BasicPolygon2d poly;
   const int num_step = static_cast<int>(slice_length / resolution);
-  const int loop_num = static_cast<int>(inner_bounds.size()) - 1 - num_step;
-  for (int s = 0; s < loop_num; s += num_step) {
+  const int max_index = static_cast<int>(inner_bounds.size());
+  for (int s = 0; s < max_index; s += num_step) {
     const double length = s * slice_length;
     const double next_length = (s + num_step) * resolution;
     for (int d = 0; d < num_lateral_slice; d++) {
@@ -82,6 +82,7 @@ void buildSlices(
       BasicLineString2d outer_polygons;
       // build interpolated polygon for lateral
       for (int i = 0; i <= num_step; i++) {
+        if (s + i >= max_index) continue;
         inner_polygons.emplace_back(
           lerp(inner_bounds.at(s + i), outer_bounds.at(s + i), ratio_dist));
         outer_polygons.emplace_back(
@@ -110,13 +111,15 @@ void buildSidewalkSlices(
   const double longitudinal_max_dist = lg::length2d(path_lanelet);
   SliceRange left_slice_range = {
     longitudinal_offset, longitudinal_max_dist, lateral_offset, lateral_offset + lateral_max_dist};
-  const double slice_length = 2.0 * slice_size;
+  // in most case lateral distance is much more effective for velocity planning
+  const double ratio_w_h = 2.0;
+  const double slice_length = ratio_w_h * slice_size;
   const double slice_width = slice_size;
-  buildSlices(left_slices, path_lanelet, left_slice_range, slice_length, slice_width, 0.5);
+  buildSlices(left_slices, path_lanelet, left_slice_range, slice_length, slice_width, 1.0);
   SliceRange right_slice_range = {
     longitudinal_offset, longitudinal_max_dist, -lateral_offset,
     -lateral_offset - lateral_max_dist};
-  buildSlices(right_slices, path_lanelet, right_slice_range, slice_length, slice_width, 0.5);
+  buildSlices(right_slices, path_lanelet, right_slice_range, slice_length, slice_width, 1.0);
   // Properly order lanelets from closest to furthest
   slices = left_slices;
   slices.insert(slices.end(), right_slices.begin(), right_slices.end());