Cannot make a precise turn at the corner with high angle

[Kim-mins]

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

Hi team,

I'm currently running Autoware with Carla, and I found that Autoware cannot make a precise turn at the corner with high angle, and it eventually stucks forever.

Here's the video on rviz:

rviz.mp4

At the video, the vehicle stucks while turning the 135' corner, and it does not move at all.

Expected behavior

I hope the ego vehicle to smoothly turn right, independent of the angle of the corner.

Actual behavior

But the vehicle actually stops while turning.

Steps to reproduce

Here's a ros2bag file for the reproduction: [ros2bag]

Versions

• Autoware: 20240115, prebuilt docker
• Carla: 0.9.13
• OS (host): Ubuntu 20.04
• OS (docker): Ubuntu 22.04

Possible causes

Sorry I cannot pinpoint the cause, but I remember that the ego vehicle drives well even if the vehicle going up to the sidewalk, so this would not be the cause.

Additional context

No response