From a2377b27fc65f0eae83079749db2f0936e0b5d4e Mon Sep 17 00:00:00 2001
From: satoshi-ota <satoshi.ota928@gmail.com>
Date: Tue, 24 Oct 2023 12:59:04 +0900
Subject: [PATCH] fix(utils): guard invalid access

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 planning/behavior_path_planner/src/utils/utils.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
index c1a49a9635592..d08074b633500 100644
--- a/planning/behavior_path_planner/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -2003,6 +2003,11 @@ void makeBoundLongitudinallyMonotonic(
     std::vector<Point> ret = bound;
     auto itr = std::next(ret.begin());
     while (std::next(itr) != ret.end()) {
+      if (itr == ret.begin()) {
+        itr++;
+        continue;
+      }
+
       const auto p1 = *std::prev(itr);
       const auto p2 = *itr;
       const auto p3 = *std::next(itr);