Abstract: Disclosed herein are system, method, and computer program product embodiments for handling traffic signs. For example, the method includes receiving sensor data from a sensor of a vehicle and identifying a traffic sign within a field of view of the vehicle based on the sensor data. The method also includes assigning a probable class to the identified sign based on a determination that the identified sign is not mapped in a priori map and a determination that a probability of existence of the sign is greater than a threshold and modifying a behavior of the vehicle based on the assigned probable class.

Abstract: Disclosed herein are system, method, and computer program product embodiments for handling unmapped speed limit signs. For example, the method includes receiving sensor data from a sensor of a vehicle, identifying a traffic sign within a field of view of the vehicle based on the sensor data, identifying one or more lane segments of a road associated with the identified traffic sign based on a determination that the identified traffic sign is not mapped in a priori map, and updating an attribute associated with a segment of the one or more lane segments of the road based on a determination that a detected attribute corresponding to the identified sign is more restrictive than an attribute associated with the lane segment in the a priori map.