From 8dd423a14dba41d5cd16052f3eb0bf122fda6cac Mon Sep 17 00:00:00 2001
From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Date: Wed, 13 Jul 2022 13:33:19 +0900
Subject: [PATCH] fix(behavior_path_planner): fix intersection path is empty
 case (#1327)

Signed-off-by: taikitanaka3 <ttatcoder@outlook.jp>
---
 planning/behavior_path_planner/src/utilities.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp
index 12d7d65626003..993565c7c90a6 100644
--- 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;
   }