[Strange Performance] Unusual Stuck While Running Apollo in Carla

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I'm running Apollo(0.9.8) in Carla(0.9.14) using the official bridge provided by guardstrikelab (GitHub link) on ubuntu 18.04. I attempted to simulate a realistic driving scenario by adding multiple vehicles in Carla alongside Apollo, using the generate_traffic.py script from the PythonAPI/examples folder. Specifically, I added 20 vehicles and 20 walkers, setting them to safe mode to avoid collisions. Carla was configured in synchronous mode with a frame time of 0.05.

However, there are times when the Apollo vehicle gets stuck and doesn't resume in Carla, a problem that doesn't occur when running the Apollo vehicle alone. Is this behavior normal?

I've attached a sample video below for reference. If you need further information to reproduce, please let me know.

vehicle_stuck.mp4

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@synkrotron @meua @WilliaJing @XiaoFei9704 @yuxip @PhilWallace
Hi, Could you help check this issue? Thanks!

[ycraurora]

The steering command appears to have been incorrect, causing the vehicle to deviate from the lane boundary and subsequently, the planning system was unable to generate any paths. It is advisable to examine the planning log located in data/log to determine if the failure occurred within the path planner or the speed planner.