From d962acba55aa0c9d50515b767cbb1bfd327fc50e Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Tue, 11 Feb 2025 20:28:19 +0900
Subject: [PATCH] perf(behavior_path_planner): improve getOverlappedLaneletId
 (#10094)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../drivable_area_expansion/static_drivable_area.cpp     | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
index 3b272fd8c6722..db327e89a59a5 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -662,20 +662,15 @@ std::optional<size_t> getOverlappedLaneletId(const std::vector<DrivableLanes> &
     return {};
   }
 
-  size_t overlapped_idx = lanes.size();
   for (size_t i = 0; i < lanes.size() - 2; ++i) {
     for (size_t j = i + 2; j < lanes.size(); ++j) {
       if (overlaps(lanes.at(i), lanes.at(j))) {
-        overlapped_idx = std::min(overlapped_idx, j);
+        return j;
       }
     }
   }
 
-  if (overlapped_idx == lanes.size()) {
-    return {};
-  }
-
-  return overlapped_idx;
+  return {};
 }
 
 std::vector<DrivableLanes> cutOverlappedLanes(