From b725fd34bf97f5c213fd9a13eb171ddb8ff480ac Mon Sep 17 00:00:00 2001
From: "tomoya.kimura" <tomoya.kimura@tier4.jp>
Date: Wed, 13 Jul 2022 11:28:20 +0900
Subject: [PATCH] fix

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 planning/behavior_velocity_planner/src/utilization/util.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/planning/behavior_velocity_planner/src/utilization/util.cpp b/planning/behavior_velocity_planner/src/utilization/util.cpp
index dba9ecf8eaef8..9ecdca2d9f12e 100644
--- 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(