The ego vehicle ignores the NPC Vehicle at the intersection and makes collision.

[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 a situation that the ego vehicle ignores the NPC Vehicle at the intersection, and eventually makes collision.

Here's the video of the situation: [frontview] [rviz]

At 0:10 of rviz video, the ego vehicle encounters a NPC Vehicle at the intersection.
However, even though the ego vehicle knows he need to stop(there's a red line with the phrase 'intersection'), the vehicle does not slow down, and they collides.

Expected behavior

In my opinion, since the ego vehicle cannot know if other vehicles stop or not, the best policy is to stop and go after the NPC Vehicle passes.

Actual behavior

The ego vehicle did not yield to the NPC Vehicle, and they eventually collides.

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

No response

Additional context

No response

[soblin]

It looks like the map has no "turn_direction" tag for the intersection lane. I can see it because the blinker is not turned on when the vehicle turns left. In that case intersection module does not work.
Please see https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/#requirementslimitations

[Kim-mins]

Thank you for the response @soblin!

I should have written my settings in more detail. Sorry for that.
To my understanding, the blinker always being turned on while turning if turn_direction tag is included to the map, but actually the bridge I'm using now does not support the turn_indicator signal.. so maybe we cannot get any clue from blinker.

Here's my lanelet2 map, and I checked that the intersection has correct turn_directions, and I remember that the directions are also represented in RViz. (like some arrows below on the intersection lane)

Also, if I remember correctly, the phrase 'intersection' does not show up when there's no turn_direction tag.