车辆方向失控[vehicle out of lane]

[starrye]

Hello team!

My system information
OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 22.04
Apollo installed from (source or binary): source
Apollo version (3.5, 5.0, 5.5, 6.0): your branch apollo_carla_bridge

I have connected the control module, but when I run to a fixed road section, the steering wheel starts to turn in a fixed direction until it deviates from the lane line. I don’t know whether it is the problem of the planning module or the control module, but I printed the planning log:

E0227 18:00:43.567451 323875 lane_follow_stage.cc:203] Fail to aggregate planning trajectory.
E0227 18:00:43.567461 323875 scenario.cc:79] Stage 'LANE_FOLLOW_DEFAULT_STAGE' returns error
E0227 18:00:43.567487 323875 on_lane_planning.cc:619] planner failed to make a driving plan
E0227 18:00:43.567514 323875 on_lane_planning.cc:435] Planning failed:PLANNING_ERROR: planner failed to make a driving plan
E0227 18:00:43.681439 323874 piecewise_jerk_problem.cc:105] failed optimization status: primal infeasible
E0227 18:00:43.681476 323874 piecewise_jerk_path_optimizer.cc:317] piecewise jerk path optimizer failed
E0227 18:00:43.687695 323874 piecewise_jerk_problem.cc:105] failed optimization status: primal infeasible
E0227 18:00:43.687711 323874 piecewise_jerk_path_optimizer.cc:317] piecewise jerk path optimizer failed
E0227 18:00:43.687742 323874 path_optimizer.cc:49] Reference Line 0_1 is not drivable after PIECEWISE_JERK_PATH_OPTIMIZER
E0227 18:00:43.687754 323874 lane_follow_stage.cc:177] Failed to run tasks[PIECEWISE_JERK_PATH_OPTIMIZER], Error message: Path Optimizer failed to generate path
E0227 18:00:43.687790 323874 lane_follow_stage.cc:265] Path fallback due to algorithm failure
E0227 18:00:43.688119 323874 path_data.cc:44] Should NOT set discretized path when reference line is nullptr. Please set reference line first.
E0227 18:00:43.688127 323874 lane_follow_stage.cc:288] Speed fallback due to algorithm failure
E0227 18:00:43.688130 323874 speed_profile_generator.cc:38] Fallback using piecewise jerk speed!
W0227 18:00:43.688134 323874 speed_profile_generator.cc:41] init_v = 6.03612, init_a = 1.12288
E0227 18:00:43.689057 323874 reference_line_info.cc:503] path data is empty

The log of the control module is normal, but when I turn off the control module and only use the planning module to move the vehicle, there are no such error messages and the vehicle runs normally
I found that your configuration of control conf.pb.txt is inconsistent with the configuration of apollo, but the same problem will occur even if I replace the official configuration

here is dreamview pnc_monitor planning pic