fix

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
autowarefoundation · Jul 13, 2022 · b725fd3 · b725fd3
1 parent 4eddeac
commit b725fd3
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/behavior_velocity_planner/src/utilization/util.cpp b/planning/behavior_velocity_planner/src/utilization/util.cpp
@@ -603,6 +603,10 @@ boost::optional<int64_t> getNearestLaneId(
   nearest_segment_idx = tier4_autoware_utils::findNearestSegmentIndex(
     path.points, current_pose, std::numeric_limits<double>::max(), M_PI_2);
 
+  if (!nearest_segment_idx) {
+    return boost::none;
+  }
+
   lanelet::ConstLanelets current_lanes;
   if (
     lanelet::utils::query::getCurrentLanelets(