longitudinal_controller makes an emergency stop before reaching the destination, after turning a corner

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] 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 vehicle stops forever before reaching the destination, just after turning the corner. Here's the videos for more detail: [frontview] [rviz]

At 0:16 of the rviz video, it is perceived as an obstacle is on the path and the vehicle stops. But, after the stop, even though there's no obstacle in front, the ego vehicle does not drive more.

Expected behavior

I hope the ego vehicle to drive to the destination successfully.

Actual behavior

But the vehicle cannot reach the goal.

Steps to reproduce

Here's a 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

I've observed this issue occurs only when the destination is near to the corner, not when far from the corner.

autowarefoundation / autoware.universe