Ego ignores STOP signal on re-planning

[bl-24]

We have observed the following strange behavior:

• in our lanelet map, there are some intersections where a single stop line refers to 2 or 3 lanelets;
• we ask for planning a route that pass through one of these stop lines: the resulting trajectory is correct (the stop line is found and the ego vehicle corrtly stops at the line, if the autonomous guide is activated);
• if we ask for a new route (both by setting a new goal or by setting a checkpoint) so that the new route uses one of the other lanelets connected to that stop sign, the stop is ignored.

Here is the regulatory_element set up in Vector Map Builder:

Here a video:
Screencast from 19-09-2025 14_10_03.webm

Screencast.from.19-09-2025.14_15_25.webm

The procedure is:

• set a goal on the right turn lanelet (stop line is correctly found);
• set a new goal on the left turn lanelet (the sto signal is ignored).

It works also on the reverse:

• first, set a goal on the left turn, and the stop is found;
• after, set a goal to the right turn lanelet, and the stop is ignored.

We have different Autoware installations, updated by tag:

• the bug is not present in Autoware tag 0.44.2, from June 10th 2025;
• the bug is present in version 0.45.0, from 23/6/2025;
• the bug remains active on a dev computer with updated Autoware.

We can provide the OSM files for testing.
lanelet2_map.txt

lanelet2_map_3way.txt