fix(intersection): guard invalid access (autowarefoundation#4655)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tier4 · Aug 17, 2023 · 81a1e53 · 81a1e53
1 parent bb14a40
commit 81a1e53
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1130,6 +1130,10 @@ bool IntersectionModule::checkCollision(
         const auto trimmed_ego_polygon =
           getPolygonFromArcLength(ego_lane_with_next_lanes, start_arc_length, end_arc_length);
 
+        if (trimmed_ego_polygon.empty()) {
+          continue;
+        }
+
         Polygon2d polygon{};
         for (const auto & p : trimmed_ego_polygon) {
           polygon.outer().emplace_back(p.x(), p.y());