How to cd into the only subfolder by auto-completion in bash?

I am using Centos 7 and bash. I know on some machines, if there is only one subfolder (and some files) in current folder, when you type cd <tab> it will auto-complete the name of the subfolder. However, it doesn't work on my machine, although <tab> can do other auto-completion on my machine, e.g., less ab<tab> will auto-complete the filename starting with ab. How can I fix it?

Edit:

Another working machine has same Centos and bash. On my machine, cd <tab> does nothing but a beep. For cd <tab><tab>, it shows all files and the single subfolder in current folder. The single folders on both machine are proper (command ls -ld the_single_folder shows drwxrwxr-x 2 user user ...).

Some shell options (output of command shopt) are different. The output of diff shoptA shoptB is (my machine is B):

18c18
< extglob           on
---
> extglob           off
27c27
< hostcomplete      off
---
> hostcomplete      on
42a43
> syslog_history    off

I tried to change those different options (extglob and hostcomplete) on my machine using commands shopt -s extglob and shopt -u hostcomplete. But it didn't work

Command complete -p cd on that machine output complete -o nospace -F _cd cd, on my machine output -bash: complete: cd: no completion specification.

Command type _cd on that machine output:

_cd is a function
_cd () 
{ 
    local cur prev words cword;
    _init_completion || return;
    local IFS='
' i j k;
    compopt -o filenames;
    if [[ -z "${CDPATH:-}" || "$cur" == ?(.)?(.)/* ]]; then
        _filedir -d;
        return 0;
    fi;
    local -r mark_dirs=$(_rl_enabled mark-directories && echo y);
    local -r mark_symdirs=$(_rl_enabled mark-symlinked-directories && echo y);
    for i in ${CDPATH//:/'
'};
    do
        k="${#COMPREPLY[@]}";
        for j in $( compgen -d $i/$cur );
        do
            if [[ ( -n $mark_symdirs && -h $j || -n $mark_dirs && ! -h $j ) && ! -d ${j#$i/} ]]; then
                j+="/";
            fi;
            COMPREPLY[k++]=${j#$i/};
        done;
    done;
    _filedir -d;
    if [[ ${#COMPREPLY[@]} -eq 1 ]]; then
        i=${COMPREPLY[0]};
        if [[ "$i" == "$cur" && $i != "*/" ]]; then
            COMPREPLY[0]="${i}/";
        fi;
    fi;
    return 0
}