message: Small logic correction
diff: @@ -60,17 +60,21 @@ inline LaneCorridorPtr ChooseLaneCorridorBasedOnVehicleState(
  }
  // if it is only in one lane corridor
  - if (other_lane_corr == nullptr)
  - return target_corr;
  + if (other_lane_corr == nullptr) {
  + // in this case we are entirely in one lane corridor
  + // here we want to only account for the preceeding vehicle
  + return observed_world.GetCurrentLaneCorridor();
  + }
  +
  - // check if any point of the vehicle shape (front)
  - // is in the other lane corridor
  + // check if the front points of the ego vehicle are in the
  + // other lane corridor
  for (auto pt : vehicle_shape.obj_.outer()) {
  double pt_angle = atan2(
  bg::get<1>(ego_pose) - bg::get<1>(pt),
  bg::get<0>(ego_pose) - bg::get<0>(pt));
  double signed_angle_diff_lon = SignedAngleDiff(theta - M_PI_2, pt_angle);
  - // if a point is in front and inside the other lane corridor
  + // if a point in the front of the polygon is inside the other lane corridor
  // return that lane corridor
  if(Within(pt, other_lane_corr->GetMergedPolygon()) &&
  signed_angle_diff_lon > 0) {
  