The vehicle drives back and forth at the hill.

[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 vehicle drives backward and forward at the hill.
Here's the videos of the situation: [rviz] [rviz2] [frontview]

At 0:10 of the first rviz video, the ego vehicle drives the uphill, but from 0:26, the ego vehicle failed to go up and go backward.
After he stops, he endlessly goes up and backward, so he fails to get to the destination.

Expected behavior

I hope the ego vehicle to drive the uphill correctly, and successfully reach to the destination.

Actual behavior

But the ego vehicle cannot climb the uphill correctly.

Steps to reproduce

Here's the corresponding 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

According to the rviz2 video, the vehicle knows itself on the hill, and the while line(from trajectory follower) is to forward even when the vehicle goes backward.
So this maybe the issue on handling acceleration or velocity on the hill.

Additional context

No response