diff --git a/modules/prediction/container/obstacles/obstacle.cc b/modules/prediction/container/obstacles/obstacle.cc
index 6cf6b77989cc24a24859b582842badde88d3cc9f..a6b384c65b1c6f4df5d912ce6baf30dc0d71c90c 100644
--- a/modules/prediction/container/obstacles/obstacle.cc
+++ b/modules/prediction/container/obstacles/obstacle.cc
@@ -19,12 +19,27 @@
 namespace apollo {
 namespace prediction {
 
-Obstacle::Obstacle() {
+using apollo::perception::PerceptionObstacle;
+
+std::mutex Obstacle::_mutex;
+
+Obstacle::Obstacle() : 
+    id_(-1),
+    type_(PerceptionObstacle::UNKNOWN_MOVABLE),
+    feature_history_(0),
+    kf_motion_tracker_(),
+    is_motion_tracker_enabled_(false),
+    kf_lane_tracker_map_(0) {
 
 }
 
 Obstacle::~Obstacle() {
-
+  id_ = -1;
+  type_ = PerceptionObstacle::UNKNOWN_UNMOVABLE;
+  feature_history_.clear();
+  is_motion_tracker_enabled_ = false;
+  kf_lane_tracker_map_.clear();
+  // TODO(author) current_lanes_.clear();
 }
 
 void Obstacle::Insert(
diff --git a/modules/prediction/container/obstacles/obstacle.h b/modules/prediction/container/obstacles/obstacle.h
index 4d59f75c6f097e022204acea85f3cb281f31c05b..21c15125feca5582a52a49bd55b28da088aca92b 100644
--- a/modules/prediction/container/obstacles/obstacle.h
+++ b/modules/prediction/container/obstacles/obstacle.h
@@ -51,9 +51,10 @@ class Obstacle {
   apollo::perception::PerceptionObstacle::Type type_;
   std::deque<Feature> feature_history_;
   apollo::common::math::KalmanFilter<double, 6, 2, 0> kf_motion_tracker_;
-  bool is_motion_tracker_enabled;
+  bool is_motion_tracker_enabled_;
   std::unordered_map<std::string,
-      apollo::common::math::KalmanFilter<double, 4, 2, 0>> kf_lane_tracker_;
+      apollo::common::math::KalmanFilter<double, 4, 2, 0>> kf_lane_tracker_map_;
+  // TODO(author) std::vector<const adu::hdmap::LaneInfo*> _current_lanes;
   static std::mutex _mutex;
 };