From b5e0d3def440a8f3fec22cff0ccf4154d307116c Mon Sep 17 00:00:00 2001
From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Fri, 6 Oct 2023 19:05:58 +0900
Subject: [PATCH] fix(behavior_path_planner): prevent crashes with the drivable
 area expansion (#917)

---
 .../src/utils/drivable_area_expansion/expansion.cpp             | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
index 828fdc2f17a51..8fe8b12252aea 100644
--- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
+++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/expansion.cpp
@@ -64,7 +64,7 @@ polygon_t createExpansionPolygon(
   boost::geometry::buffer(
     base_ls, polygons, distance_strategy, strategy::side_straight(), strategy::join_miter(),
     strategy::end_flat(), strategy::point_square());
-  return polygons.front();
+  return polygons.empty() ? polygon_t{} : polygons.front();
 }
 
 std::array<double, 3> calculate_arc_length_range_and_distance(