Hi.
There is no special settings needed for JTAG connection with lauterbach. I tried the same scenario - USB Power and Lauterbach. Don't forget setup all data for debug session.
I don't have Autosar MCAL installed - but you can add lauterbach debug session in debug configuration. The easiest way is create new empty project, select lauterbach debug:

Copy Debugger folder from empty Project_Settings into your existing project and create new Lauterbach debug session.

You can edit the .launch text file in Project_Settings\Debugger or copy line by line project settings in the GUI from empty project to your Autosar project:
The empty one:

Your existing project (in my case Hello_world):

When done - just click on debug and wait for T32:

Hope it helps.
Jiri