From e99f5d7f73282bfa842e22da76d545e2015c0880 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Mon, 15 May 2023 17:38:56 +0900
Subject: [PATCH] fix(intersection): fixed bad optional access (#3712) (#477)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../src/scene_module/intersection/scene_intersection.cpp     | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
index d005243566ee7..96a307c6195b3 100644
--- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
@@ -324,7 +324,10 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
       stop_line_idx = occlusion_first_stop_line_idx;
       // insert creep velocity [default_stop_line, occlusion_stop_line)
       insert_creep_during_occlusion =
-        std::make_pair(default_stop_line_idx_opt.value(), occlusion_peeking_line_idx_opt.value());
+        default_stop_line_idx_opt && occlusion_peeking_line_idx_opt
+          ? std::make_optional<std::pair<size_t, size_t>>(
+              default_stop_line_idx_opt.value(), occlusion_peeking_line_idx_opt.value())
+          : std::nullopt;
       occlusion_state_ = OcclusionState::BEFORE_FIRST_STOP_LINE;
     }
   } else if (occlusion_state_ != OcclusionState::CLEARED) {