Fixed a lane sequence filter bug

a00c1c3c · Calvin Miao · Jiangtao Hu · e8028de0 · a00c1c3c
隐藏空白更改
内联并排

Showing with 4 addition and 2 deletion

modules/prediction/predictor/vehicle/lane_sequence_predictor.cc ...s/prediction/predictor/vehicle/lane_sequence_predictor.cc +4 -2

未找到文件。
--- a/modules/prediction/predictor/vehicle/lane_sequence_predictor.cc
+++ b/modules/prediction/predictor/vehicle/lane_sequence_predictor.cc
@@ -126,8 +126,10 @@ void LaneSequencePredictor::FilterLaneSequences(
        probability, FLAGS_lane_sequence_threshold) < 0 &&
        i != all.first) {
      (*enable_lane_sequence)[i] = false;
-    } else if (lane_change_type[i] > 0 &&
-               lane_change_type[i] != change.first) {
+    } else if (change.first >= 0 &&
+               change.first < num_lane_sequence &&
+               lane_change_type[i] > 0 &&
+               lane_change_type[i] != lane_change_type[change.first]) {
      (*enable_lane_sequence)[i] = false;
    }
  }