Vehicle doesn't stop to avoid hitting a moving object ahead

[squizz617]

Bug report

Required information:

• Operating system and version: Ubuntu 18.04
• Autoware installation type: Docker image autoware/autoware:1.14.0-melodic-cuda, as specified in the Dockerfile of https://github.com/carla-simulator/carla-autoware at commit 975b6f3.
• Autoware version or commit hash - 1.14.0
• ROS distribution and version:
  • ROS Melodic (pre-installed in the docker image)
• ROS installation type:
  • Pre-installed in the docker image

Description of the bug

• I am running Autoware 1.14.0 (docker image: autoware/autoware:1.14.0-melodic-cuda), Carla 0.9.10.1 (docker image: carlasim/carla:0.9.10.1) as a simulator and carla-autoware-bridge at 975b6f3 as a bridge.
• When there is an object (i.e., a vehicle) that is slowly moving into the path and partially blocking the lane, Autoware continues moving forward, hitting the object.
• Please see the camera data.
• This is not a perception error. The lidar sensor obviously captured the car ahead as shown in rviz.
• Please check the rosbag file for a detailed trace.
• Map files can be downloaded at: autoware-contents.

Steps to reproduce the bug

1. Replay the self-contained rosbag file.

Expected behavior

New motion plan should be generated to deal with the blocking object.

Actual behavior

Motion plan doesn't change, leading to a forward collision.

Screenshots

• camera data
• rviz

Additional information