From 7ecfc0f0ba47ffc7fcfff7792a13656e9b3df59d Mon Sep 17 00:00:00 2001
From: Junya Sasaki <j2sasaki1990@gmail.com>
Date: Mon, 10 Mar 2025 00:52:49 +0900
Subject: [PATCH] Update planning/autoware_path_generator/src/utils.cpp

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
---
 planning/autoware_path_generator/src/utils.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/planning/autoware_path_generator/src/utils.cpp b/planning/autoware_path_generator/src/utils.cpp
index 8b79f2c54..0cadc6567 100644
--- a/planning/autoware_path_generator/src/utils.cpp
+++ b/planning/autoware_path_generator/src/utils.cpp
@@ -446,6 +446,7 @@ std::optional<PathWithLaneId> get_path_up_to_just_before_pre_goal(
 
   // It seems we have a point outside of the circle whose center is the goal
   const auto min_dist_out_of_circle_index = min_dist_out_of_circle_index_opt.value();
+  if (min_dist_out_of_circle_index == 0) return std::nullopt;
 
   // Fill all the points up to just before the point outside of the circle
   PathWithLaneId output;