Prediction: fix a bug with lane-sequence predictor.

e2d5bb3d · panjiacheng · PAN Jiacheng · 512d657e · e2d5bb3d
隐藏空白更改
内联并排

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modules/prediction/predictor/sequence/sequence_predictor.cc modules/prediction/predictor/sequence/sequence_predictor.cc +10 -0

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--- a/modules/prediction/predictor/sequence/sequence_predictor.cc
+++ b/modules/prediction/predictor/sequence/sequence_predictor.cc
@@ -370,6 +370,11 @@ bool SequencePredictor::GetLongitudinalPolynomial(
  int lane_seg_start_idx = lane_sequence.adc_lane_segment_idx();
  int lane_point_start_idx =
      lane_sequence.lane_segment(lane_seg_start_idx).adc_lane_point_idx();
+  if (lane_point_start_idx >= lane_sequence.lane_segment(lane_seg_start_idx)
+      .lane_point_size()) {
+    lane_point_start_idx = lane_sequence.lane_segment(lane_seg_start_idx)
+        .lane_point_size() - 1;
+  }
  double lane_heading = lane_sequence.lane_segment(lane_seg_start_idx)
                            .lane_point(lane_point_start_idx)
                            .heading();
@@ -414,6 +419,11 @@ bool SequencePredictor::GetLateralPolynomial(
  int lane_seg_start_idx = lane_sequence.adc_lane_segment_idx();
  int lane_point_start_idx =
      lane_sequence.lane_segment(lane_seg_start_idx).adc_lane_point_idx();
+  if (lane_point_start_idx >= lane_sequence.lane_segment(lane_seg_start_idx)
+      .lane_point_size()) {
+    lane_point_start_idx = lane_sequence.lane_segment(lane_seg_start_idx)
+        .lane_point_size() - 1;
+  }
  const LanePoint& start_lane_point =
      lane_sequence.lane_segment(lane_seg_start_idx)
          .lane_point(lane_point_start_idx);