The ego vehicle sometimes does not make lane change behind the NPC Vehicle.

[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 met a situation that the ego vehicle sometimes does not make lane change behind the NPC Vehicle.

Here are the videos: [frontview] and rviz below:

rviz.mp4

At the start of the rviz video, the trajectory for lane change instantly show up, but it disappears right away.
Also, at 0:03, the lane changing trajectory also appears, but only the straight trajectory remains.
So the ego vehicle stops forever behind the stopping vehicle.

However, I'm confused as I also observed sometimes the lane change is successful: [frontview2]
As you can see in the frontview2 video, every NPC Vehicles and the starting point of the ego vehicle are the same, but the ego could change lane and successfully goes to the destination.

Expected behavior

I hope changing lane always to be successful.

Actual behavior

But sometimes the ego vehicle cannot properly make lane change.

Steps to reproduce

Here's the 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