OBSTACLE PREDICTION SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

Embodiments of a system/method is disclosed to operate an autonomous driving vehicle (ADV). In one embodiment, a system perceives a driving environment surrounding the ADV using a plurality of sensors mounted on the ADV including one or more obstacles. The system receives traffic signal information from one or more traffic indicators identified within a predetermined radius of the ADV. For each of the one or more obstacles, the system determines if the obstacle is situated on a lane with traffic flow coordinated by the one or more traffic indicators. The system predicts a behavior of the obstacle based on the traffic signal information for the lane. The system plans a trajectory based on the predicted behaviors for the one or more obstacles to control the ADV based on the planned trajectory.