ROUTING BASED LANE GUIDANCE SYSTEM UNDER TRAFFIC CONE SITUATION

In one embodiment, a perception module of an autonomous driving vehicle (ADV) detects a temporary traffic control device (TTCD) located within a first lane of a multi-lane roadway. The first lane is added to a black list of one or more lanes that the ADV is not permitted to drive within. A rerouting request is made to a planning module of the ADV to route the ADV to a second lane in the multi-lane roadway. The ADV navigates to the second lane and continues navigating along the requested rerouting. The ADV monitors for additional TTCDs. One or more boundary lines of the first lane can be marked “do not cross” so that the ADV does not navigate, even partially, back into the first lane. If there are no more TTCDs in the first lane for a predetermined distance ahead of the ADV, the first lane is deleted from the black list.