return non reversed lanes

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Dec 12, 2024 · 53d91e1 · 53d91e1
1 parent 09f5aac
commit 53d91e1
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -1278,7 +1278,9 @@ std::vector<lanelet::ConstLanelets> get_preceding_lanes(const CommonDataPtr & co
       continue;
     }
 
-    lanelet::ConstLanelets non_overlapping_lanes(lanes_reversed.begin(), overlapped_itr);
+    // Lanes are not reversed by default. Avoid returning reversed lanes to prevent undefined
+    // behavior.
+    lanelet::ConstLanelets non_overlapping_lanes(overlapped_itr.base(), lanes.end());
     non_overlapping_lanes_vec.push_back(non_overlapping_lanes);
   }