From a2218ac87a4ea53636703b8a08766f7dc023b37d Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 28 Mar 2023 18:16:00 +0900
Subject: [PATCH] fix(behavior_velocity_planner): fix invalid access (#3187)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../src/scene_module/intersection/scene_intersection.cpp       | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
index 58364c2fcd1d0..c97a1ceb5328f 100644
--- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
@@ -221,7 +221,8 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
 
   /* calculate final stop lines */
   std::optional<size_t> stop_line_idx =
-    std::make_optional<size_t>(stop_lines_idx_opt.value().collision_stop_line);
+    stop_lines_idx_opt ? std::make_optional<size_t>(stop_lines_idx_opt.value().collision_stop_line)
+                       : std::nullopt;
   if (external_go) {
     is_entry_prohibited = false;
   } else if (external_stop) {