[intersection] Incoming vehicle is ignored in some complex pattern

[VRichardJP]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

We observed incoming vehicles are ignored by the intersection module in in some specific pattern. Here is a simple demonstration with the planning simulator:

intersection_fail-2024-04-22_19.41.16.mp4

As you can observe, an "intersection" wall appears when the dummy vehicle comes from below, but not when the vehicle comes from the left or the top. If I simplify the map by deleting all irrelevant lanelets, then incoming vehicles are always detected as expected:

intersection_ok-2024-04-22_19.47.09.mp4

I have tried to simplify the first lanelet map, but as soon as I remove 1 or 2 lanelet the problem disappears. I guess the issue is related to the lanelet map being just a convoluted loop, and deleting a lanelet breaks the loop.

The 2 lanelet maps:

lanelet2_map_intersection_fail.txt

lanelet2_map_intersection_ok.txt

Expected behavior

Intersection module detects all incoming vehicles

Actual behavior

In the first case, vehicle coming from the top or left are systematically ignored

Steps to reproduce

plannin simulator

Versions

Ubuntu 22.04
The demo is shown with latest main, but the problem also appears on several older versions I have tested.

Possible causes

No response

Additional context

No response

[xmfcx]

@soblin Sobue-san, are you actively working on this task? If not we can assign it to an Autoware Labs member since it may be failing some scenarios.