From 63e6fa8845a42c08b1db297e70c2301fdea7076d Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Thu, 7 Mar 2024 20:45:49 +0900
Subject: [PATCH] fix(drivable_area_expansion): fix invalid access (#6566)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../utils/drivable_area_expansion/static_drivable_area.cpp    | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
index 6154d29855f7a..571a40859202f 100644
--- a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
+++ b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -1481,6 +1481,10 @@ std::vector<geometry_msgs::msg::Point> postProcess(
   const auto & vehicle_length = planner_data->parameters.vehicle_length;
   constexpr double overlap_threshold = 0.01;
 
+  if (original_bound.size() < 2) {
+    return original_bound;
+  }
+
   const auto addPoints =
     [](const lanelet::ConstLineString3d & points, std::vector<geometry_msgs::msg::Point> & bound) {
       for (const auto & bound_p : points) {