Failed to keep tracking a small object.

[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 failed to keep tracking a small object.

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

• At 0:16, Autoware successfully detected a small static obstacle, and makes the ego vehicle stop before collision.

• However, it fails to keep tracking the obstacle in front, and the ego vehicle starts to accelerate.

• The two steps above repeat until 0:35, and the ego vehicle eventually collides with the obstacle.

Expected behavior

I hope Autoware to keep tracking the detected obstacle and stops before collision.

Actual behavior

However, it fails to and makes collision.

Steps to reproduce

Please replay the ros2bag: [ros2bag]

Versions

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

Possible causes

No response

Additional context

No response