Autoware interpreting the road ahead as an object at a steep downhill

[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 the vehicle reaches the end of a steep downhill, the lidar misinterprets the road ahead as an object and the vehicle stops moving.
• Please see the camera data from 00:10.
• This is the rosbag file that has the entire data. We can find that the road is perceived as an object by looking at the lidar point clouds.
• Map files can be downloaded at: autoware-contents.

Steps to reproduce the bug

1. Replay the self-contained rosbag file.

Expected behavior

The street should not be perceived as an object.

Actual behavior

The street is perceived as an object, and Autoware vehicle refuses to move forward as it thinks its way is blocked.

Screenshots

• camera data

Additional information