The vehicle collides with the obstacle at the corner while turning

[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 collides with the obstacle at the corner while turning.

frontview.mp4

rviz.mp4

On rviz video, the points from the fence are detected and overlap with the edge of the drivable area, but the ego vehicle eventually collides with the obstacle.

Expected behavior

No collision while turning

Actual behavior

But the collision was made.

Steps to reproduce

Here's a [ros2bag file] for the reproduction.

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

[maxime-clem]

The main issue comes from bad control: the vehicle deviates significantly from the trajectory when colliding with the obstacle (~45cm of lateral error).

The control issue should be improved by the new CARLA interface (#6859).

[Kim-mins]

Sorry for late reply @maxime-clem.

Thank you for checking.
I'll check it with the new Carla interface, and I'll reopen this if I got the same issue.

Thanks!