Erroneous dynamic expansion of drivable area makes the ego vehicle stop.

[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 stops due to an erroneous dynamic expansion of drivable area.
Here's the video of the situation: [rviz]

From the start of the video, a drivable area at the corner sometimes invades the trajectory(I cannot know why the message outside_drivable_area does not appear.), and when the vehicle is turning at the corner, it eventually stops as one of the rear wheel is at outside the drivable area, which was caused by the update of the area.

Here's more information of the situation.

• Starting/Goal pose (from launch.log file)

initial pose - x: 334.279584, y: 168.742911, z: 0.263412
initial orientation - qx: -0.000302, qy: -0.000023, qz: -0.003080, qw: 0.999995
goal pose - x: 212.669266, y: 364.220459, z: 2.857196
goal orientation - qx: 0.000000, qy: 0.000000, qz: -0.003752, qw: 0.999993

• Map: Town04
• ros2bag file: [ros2bag]
• launch.log file: [launch.log]

Expected behavior

I hope the ego vehicle not to stop before reaching the destination.

Actual behavior

The vehicle stucks before reaching the destination.

Steps to reproduce

1. Pull image from https://github.com/autowarefoundation/autoware/pkgs/container/autoware/321564631?tag=universe-devel-cuda-0.39.1-amd64, and run Autoware.
2. Run ros2bag file above.

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