fix(lane_change, pull_over): fix predicted path size is small case (#517

) * fix(lane_change):fix predicted path size is small case * fix(pull_over):fix predicted path size is small case
tier4 · Mar 22, 2022 · 8a00f2b · 8a00f2b
1 parent 7978610
commit 8a00f2b
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Showing 2 changed files with 4 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
@@ -390,6 +390,7 @@ bool isLaneChangePathSafe(
     const auto & obj = dynamic_objects->objects.at(i);
     std::vector<PredictedPath> predicted_paths;
     if (ros_parameters.use_all_predicted_path) {
+      predicted_paths.resize(obj.kinematics.predicted_paths.size());
       std::copy(
         obj.kinematics.predicted_paths.begin(), obj.kinematics.predicted_paths.end(),
         predicted_paths.begin());
@@ -425,6 +426,7 @@ bool isLaneChangePathSafe(
     const auto & obj = dynamic_objects->objects.at(i);
     std::vector<PredictedPath> predicted_paths;
     if (ros_parameters.use_all_predicted_path) {
+      predicted_paths.resize(obj.kinematics.predicted_paths.size());
       std::copy(
         obj.kinematics.predicted_paths.begin(), obj.kinematics.predicted_paths.end(),
         predicted_paths.begin());

diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/util.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/util.cpp
@@ -424,6 +424,7 @@ bool isPullOverPathSafe(
     const auto & obj = dynamic_objects->objects.at(i);
     std::vector<PredictedPath> predicted_paths;
     if (ros_parameters.use_all_predicted_path) {
+      predicted_paths.resize(obj.kinematics.predicted_paths.size());
       std::copy(
         obj.kinematics.predicted_paths.begin(), obj.kinematics.predicted_paths.end(),
         predicted_paths.begin());
@@ -459,6 +460,7 @@ bool isPullOverPathSafe(
     const auto & obj = dynamic_objects->objects.at(i);
     std::vector<PredictedPath> predicted_paths;
     if (ros_parameters.use_all_predicted_path) {
+      predicted_paths.resize(obj.kinematics.predicted_paths.size());
       std::copy(
         obj.kinematics.predicted_paths.begin(), obj.kinematics.predicted_paths.end(),
         predicted_paths.begin());