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A good empathetic dialogue system should first track and understand a user's emotion and then reply with an appropriate emotion. However, current approaches to this task either focus on improving the understanding of users' emotion or on proposing better responding strategies, and very few works consider both at the same time. Our work attempts to fill this vacancy. Inspired by task-oriented dialogue systems, we propose a novel empathetic response generation model with emotion-aware dialogue management. The emotion-aware dialogue management contains two parts: (1) Emotion state tracking maintains the current emotion state of the user and (2) Empathetic dialogue policy selection predicts a target emotion and a user's intent based on the results of the emotion state tracking. The predicted information is then used to guide the generation of responses. Experimental results show that dynamically managing different information can help the model generate more empathetic responses compared with several baselines under both automatic and human evaluations.