Stack [aws-sam-cli-managed-default] already exists and cannot be created again with the changeSet [InitialCreation]

Question

Question

I encountered the following error when deploying my aws SAM application using aws cli tool. Does anyone know why it occurs and how to fix it?

Error: Failed to create managed resources: An error occurred (ValidationError) when calling the CreateChangeSet operation: Stack [aws-sam-cli-managed-default] already exists and cannot be created again with the changeSet [InitialCreation].

Detail

I have not used aws-sam-cli-managed-default as CloudFormation stack name/SAM application name/ S3_prefix/ S3_bucket name.

my samconfig.toml file

version = 0.1
[default]
[default.deploy]
[default.deploy.parameters]
stack_name = "iot"
s3_bucket = "iot"
s3_prefix = "iot"
region = "us-east-2"
profile = "default"
confirm_changeset = true
capabilities = "CAPABILITY_NAMED_IAM"