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(

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

@@ -78,7 +78,7 @@ bool OcclusionSpotInPrivateModule::modifyPathVelocity(
          .position.x;
   }
   autoware_auto_planning_msgs::msg::PathWithLaneId interp_path;
-  occlusion_spot_utils::splineInterpolate(limited_path, 1.0, &interp_path, logger_);
+  occlusion_spot_utils::splineInterpolate(limited_path, 0.5, &interp_path, logger_);
   if (interp_path.points.size() < 4) {
     return true;
   }