fix(crosswalk): return if the stop point with factor is boost::none (a…

…utowarefoundation#4071) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tier4 · Jul 19, 2023 · a1f7950 · a1f7950
1 parent 778190b
commit a1f7950
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -234,6 +234,10 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
     return {};
   }();
 
+  if (!stop_point_with_factor) {
+    return false;
+  }
+
   const auto & stop_factor = stop_point_with_factor->second;
   insertDecelPointWithDebugInfo(stop_point_with_factor->first, 0.0, *path);
   planning_utils::appendStopReason(stop_factor, stop_reason);