Collision with the car moves slowly nearby.

[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 Autoware makes collision with the car moves slowly nearby.
Here are the videos of the situation: [rviz] [frontview]

• rviz: As the video shows, the ego vehicle stops well initially, but it tried to drive through ignoring the NPC vehicle almost stopped, and makes collision. It seems the ego vehicle decided to drive because, the NPC vehicle is not detected well.
• frontview: This shows the situation at the simulator, and at the end of the video, the ego vehicle start to drive after stopping even though the NPC vehicle is moving slowly nearby, and they eventually collide.

Here's more information:

• Starting/Goal points:

initial pose - x: 88.590783, y: -89.665139, z: 0.062698
initial orientation - qx: -0.000246, qy: 0.000226, qz: -0.707084, qw: 0.707129
goal pose - x: 156.973679, y: -0.507955, z: 2.000000
goal orientation - qx: -0.000000, qy: 0.000000, qz: 0.925693, qw: -0.378276

• Map: Town01 [Town01]
• ros2bag file: [ros2bag]
• launch.log file: [launch.log]

Expected behavior

I hope the ego vehicle drives to the goal point not colliding with any other surrounding.

Actual behavior

However, the ego vehicle collides with the car moves slowly nearby.

Steps to reproduce

1. Pull image from https://github.com/autowarefoundation/autoware/pkgs/container/autoware/321564631?tag=universe-devel-cuda-0.39.1-amd64 and run Autoware with Carla, using autoware_carla_interface.
2. Run ros2bag file above.

Versions

• OS: Ubuntu 22.04 (Docker), Ubuntu 20.04 (host)
• Autoware: 0.39.1
• Carla: 0.9.15
• autoware_carla_interface: link

Possible causes

I'm not sure, but I guess this issue is related to a dead zone of lidar sensor, as the NPC vehicle is near the ego vehicle.

Additional context

No response