Looking at this, Lucario has three main advantages here:
-Lucario has a far better ranged game. All of Cinderace's moves are direct contact, bar Ember and Pyro Ball, and Ember is too weak of a move to really be a factor here. Meanwhile, Lucario has Aura Sphere which homes in on its target, Dragon Pulse which is a beam-like move, Vacuum Wave which hits incredibly fast, Bone Rush which is super effective against the Fire type Cinderace and both Calm Mind and Nasty Plot to amplify these moves.
-Lucario is more skilled and more adept at dodging. It has basically passive aura sensing abilities which allows Lucario to read all of Cinderace's thoughts and movements from over half a mile away. On top of this, Lucario has techniques which give it precognition, like Mind Reader and Detect. It is also typically far more skilled and experienced than Cinderace.
-Lucario has far more versatility than Cinderace, owing to it being around longer and being in more spin-off games. Many of these, like the conquest abilities and IQ skills, are passive. It also has far more moves to choose from in its arsenal.
Meanwhile Cinderace has one main advantage here:
-Simply put, type advantage. Cinderace's main move is Pyro Ball, which is very effective against the steel type Lucario. Libero allows it to switch between the Fighting, Flying and Psychic types, with the former also being effective against Lucario's steel type and the latter two being resistant to its main fighting moves (but not its steel moves, and a Psychic type Cinderace is weak to Lucario's Dark Pulse and Shadow Ball). Cinderace may not be smart enough to completely abuse Libero, but it'll inevitably help Cinderace land some more powerful fighting attacks in CQC. It is a bit of a double-edged sword however, as if Cinderace uses any of its many Normal moves (or Sucker Punch), it'll become weak to Lucario's main form of attack, effectively limiting its movepool even more.
Overall, Cinderace will likely be hitting harder, but Lucario takes range, skill, versatility and will be far harder to hit due to its aura sensing. I'll give this to Lucario. Assuming btw that this is their base forms and not Mega Lucario vs Gmax Cinderace or something.