From c4c594e91f1b1e9dcc72d881d387ec6b6d8b133d Mon Sep 17 00:00:00 2001
From: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
Date: Tue, 6 Aug 2024 19:11:02 +0900
Subject: [PATCH] set current_lanes to avoid accessing empty current_lanes

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
---
 .../autoware_behavior_path_lane_change_module/src/scene.cpp      | 1 +
 1 file changed, 1 insertion(+)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
index 3fc64736731f5..75efc65c2997c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -85,6 +85,7 @@ std::pair<bool, bool> NormalLaneChange::getSafePath(LaneChangePath & safe_path)
   const auto target_lanes = getLaneChangeLanes(current_lanes, direction_);
 
   if (target_lanes.empty()) {
+    safe_path.info.current_lanes = current_lanes;
     return {false, false};
   }