fix(behavior_path_planner): fix intersection path is empty case (tier…

…4#1327) Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp>
boyali · Oct 3, 2022 · 8dd423a · 8dd423a
1 parent 39221db
commit 8dd423a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp
@@ -1688,7 +1688,7 @@ bool checkLaneIsInIntersection(
   const RouteHandler & route_handler, const PathWithLaneId & reference_path,
   const lanelet::ConstLanelets & lanelet_sequence, double & additional_length_to_add)
 {
-  if (lanelet_sequence.size() < 2) {
+  if (lanelet_sequence.size() < 2 || reference_path.points.empty()) {
     return false;
   }