diff --git a/modules/planning/common/reference_line_info.cc b/modules/planning/common/reference_line_info.cc
index fc75eb214ff3738a7dbc253f3778007125c18a0c..d4570202fa45ff5d116e591c3abece94ed767319 100644
--- a/modules/planning/common/reference_line_info.cc
+++ b/modules/planning/common/reference_line_info.cc
@@ -127,6 +127,14 @@ ADCTrajectory::RightOfWayStatus ReferenceLineInfo::GetRightOfWayStatus() const {
 
 const hdmap::RouteSegments& ReferenceLineInfo::Lanes() const { return lanes_; }
 
+const std::list<hdmap::Id> ReferenceLineInfo::TargetLaneId() const {
+  std::list<hdmap::Id> lane_ids;
+  for (const auto& lane_seg : lanes_) {
+    lane_ids.push_back(lane_seg.lane->id());
+  }
+  return lane_ids;
+}
+
 const SLBoundary& ReferenceLineInfo::AdcSlBoundary() const {
   return adc_sl_boundary_;
 }
diff --git a/modules/planning/common/reference_line_info.h b/modules/planning/common/reference_line_info.h
index 51b2673c721f80acba6e88ed97e904bd10497576..75565fc894e4ecace619241bdfecf1fcd3b86574 100644
--- a/modules/planning/common/reference_line_info.h
+++ b/modules/planning/common/reference_line_info.h
@@ -108,6 +108,7 @@ class ReferenceLineInfo {
   bool IsDrivable() const;
 
   const hdmap::RouteSegments& Lanes() const;
+  const std::list<hdmap::Id> TargetLaneId() const;
 
   void ExportDecision(DecisionResult* decision_result) const;
 
diff --git a/modules/planning/planning.cc b/modules/planning/planning.cc
index 51b2abbd90a7bc1a1ff603af702395ff389bd2fb..e00e145ef15118816f0e194171421c5d6131986a 100644
--- a/modules/planning/planning.cc
+++ b/modules/planning/planning.cc
@@ -388,6 +388,9 @@ Status Planning::Plan(const double current_time_stamp,
   // set right of way status
   trajectory_pb->set_right_of_way_status(
       best_reference_line->GetRightOfWayStatus());
+  for (const auto& id : best_reference_line->TargetLaneId()) {
+    trajectory_pb->add_lane_id()->CopyFrom(id);
+  }
 
   best_reference_line->ExportDecision(trajectory_pb->mutable_decision());
 
diff --git a/modules/planning/proto/planning.proto b/modules/planning/proto/planning.proto
index 7ae982abad59617713e2e5b984f5aa5b36f7662d..1e612729351444d2263cbe04c10b0c7bebb919dc 100644
--- a/modules/planning/proto/planning.proto
+++ b/modules/planning/proto/planning.proto
@@ -6,6 +6,7 @@ import "modules/common/proto/header.proto";
 import "modules/common/proto/vehicle_signal.proto";
 import "modules/common/proto/pnc_point.proto";
 import "modules/canbus/proto/chassis.proto";
+import "modules/map/proto/map_id.proto";
 import "modules/planning/proto/decision.proto";
 import "modules/planning/proto/planning_internal.proto";
 
@@ -70,7 +71,7 @@ message LatencyStats {
   optional double init_frame_time_ms = 3;
 }
 
-// next id: 18
+// next id: 19
 message ADCTrajectory {
   optional apollo.common.Header header = 1;
 
@@ -109,4 +110,7 @@ message ADCTrajectory {
         PROTECTED = 1;
   }
   optional RightOfWayStatus right_of_way_status = 17;
+
+  // lane id along reference line
+  repeated apollo.hdmap.Id lane_id = 18;
 }
diff --git a/modules/planning/testdata/garage_test/result_follow_0.pb.txt b/modules/planning/testdata/garage_test/result_follow_0.pb.txt
index 4b55b6c12d77360f75209daa45e75d907396a750..d4aba42893b21be7b3d9b0d4d0d4d3544661433d 100644
--- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt
@@ -1741,3 +1741,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}
diff --git a/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt b/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt
index 8a0f8db3285abf6821c04e0c2f90c3adf0b774dc..22d86e24aaa13f74ef75ab18816f23521f1ca28e 100644
--- a/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt
@@ -1740,3 +1740,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}
diff --git a/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
index 8a0f8db3285abf6821c04e0c2f90c3adf0b774dc..22d86e24aaa13f74ef75ab18816f23521f1ca28e 100644
--- a/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
@@ -1740,3 +1740,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}
diff --git a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
index 1a870db9033036deedad81783c0296af87d80fa7..dc4f5e3740f46b0509de2e028975b9c53075a72c 100644
--- a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
@@ -1755,3 +1755,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}
diff --git a/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
index 5e7c551afd356aa015414ba118b885a98151b1a0..f84d5af407d8b0e1534802cea09b7c80ebcc5252 100644
--- a/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
+++ b/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
@@ -1111,3 +1111,6 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "1_-1"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt
index 3810e85e875eba723f0f3e9f2f927632ddb5f1a0..3a6e85cdb37e9898dd650c6dc6ae119597a852f6 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt
@@ -1605,3 +1605,6 @@ routing_header {
   sequence_num: 2
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "40_1_-2"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt
index d8bf7f7930254165607482aedf08403ccfe894fd..101b9fb2f17137d49b5750b0c973445e0f3247e7 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt
@@ -1717,3 +1717,6 @@ routing_header {
   sequence_num: 8
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "57_1_-1"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
index 51314443e167a38ac65f8d1f7b501f14603f4d5f..c52f440fac2480225982236c0106be36ce165036 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
@@ -1284,3 +1284,12 @@ routing_header {
   sequence_num: 1
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "752_1_-1"
+}
+lane_id {
+  id: "753_1_-1"
+}
+lane_id {
+  id: "6_1_-2"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
index 8ff6583bb99c184042aede09603ce3f14b5cc25c..b90efc34ac18ce36e9be32924b5fdf6292b52d4f 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
@@ -1732,3 +1732,18 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "140_1_-1"
+}
+lane_id {
+  id: "747_1_-1"
+}
+lane_id {
+  id: "141_1_-2"
+}
+lane_id {
+  id: "906_1_-1"
+}
+lane_id {
+  id: "9_1_-2"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
index 1a8395b8f2bf3a3c6ad7ac1e886ea71090e2b1d5..bd4470e25304ff348483011309768c869916d48d 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
@@ -1283,3 +1283,15 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "37_1_-4"
+}
+lane_id {
+  id: "38_1_-4"
+}
+lane_id {
+  id: "84_1_-1"
+}
+lane_id {
+  id: "58_1_-2"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
index 261d76e248ac993e4cee3626b97803f609d2c60c..c2dd42e8b2fd9fa92b8180746fda00b2a8fbb024 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
@@ -1754,3 +1754,15 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "747_1_-1"
+}
+lane_id {
+  id: "141_1_-2"
+}
+lane_id {
+  id: "906_1_-1"
+}
+lane_id {
+  id: "9_1_-2"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt
index 39f575da4d6f08201bc1412151e3555f8328c7c0..6e03207fa49418e1edc9c296d578ba1cc2ea2597 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt
@@ -1741,3 +1741,6 @@ routing_header {
   sequence_num: 3
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "57_1_-1"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
index 7114283269d5c3c2de46aba5200ddbaa61baf10b..2c5eaab0afb37b2c1fcb63c8ae0ed1303a08295f 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
@@ -1587,3 +1587,12 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "138_1_-1"
+}
+lane_id {
+  id: "144_1_-1"
+}
+lane_id {
+  id: "140_1_-1"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt
index 34696126f553f0ceea66d20f96712eefca692ce5..9a8e626cdf6b3cbfa6be782ad65b2874c9af9a58 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt
@@ -1480,3 +1480,18 @@ routing_header {
   sequence_num: 2
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "12_1_-3"
+}
+lane_id {
+  id: "133_1_-3"
+}
+lane_id {
+  id: "88_1_-1"
+}
+lane_id {
+  id: "21_1_-1"
+}
+lane_id {
+  id: "22_1_-1"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
index 669ee58d6226b76c0502ee9a7e02577c44d77fa6..7068602dc862c9f97165688b48fbe8cc613a314c 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
@@ -1732,3 +1732,18 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "39_1_-3"
+}
+lane_id {
+  id: "37_1_-4"
+}
+lane_id {
+  id: "38_1_-4"
+}
+lane_id {
+  id: "84_1_-1"
+}
+lane_id {
+  id: "58_1_-2"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt
index 6a9461e0481ac316aa8eb2066297bbeba3ed34a1..733513627c99bd27058a82d82d5150601b96064f 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt
@@ -1732,3 +1732,18 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "39_1_-3"
+}
+lane_id {
+  id: "37_1_-4"
+}
+lane_id {
+  id: "38_1_-4"
+}
+lane_id {
+  id: "84_1_-1"
+}
+lane_id {
+  id: "58_1_-2"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
index bd9e8435d578dedd2a097840859609ef44c0a35c..114215c1936d4da69fafaadeb68c4d8a64ed901c 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
@@ -1754,3 +1754,12 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "141_1_-2"
+}
+lane_id {
+  id: "906_1_-1"
+}
+lane_id {
+  id: "9_1_-2"
+}
diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
index 9a7f55d988b8522848828423a95c959644dcd398..a956f261049b10011ff24918d20f468a6d6f0f17 100644
--- a/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
+++ b/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
@@ -1813,3 +1813,15 @@ routing_header {
   module_name: "routing"
 }
 right_of_way_status: UNPROTECTED
+lane_id {
+  id: "28_1_-1"
+}
+lane_id {
+  id: "27_1_-1"
+}
+lane_id {
+  id: "81_1_-1"
+}
+lane_id {
+  id: "160_1_-3"
+}
diff --git a/modules/prediction/predictor/move_sequence/move_sequence_predictor.cc b/modules/prediction/predictor/move_sequence/move_sequence_predictor.cc
index 19009e2fca68b97942b5550cf930e7efd927a2d7..4c9a4526fe0c5150433fcc1d4a8397b0a8aeff03 100644
--- a/modules/prediction/predictor/move_sequence/move_sequence_predictor.cc
+++ b/modules/prediction/predictor/move_sequence/move_sequence_predictor.cc
@@ -134,7 +134,8 @@ void MoveSequencePredictor::Predict(Obstacle* obstacle) {
            << "] will draw a lane sequence trajectory [" << ToString(sequence)
            << "] with probability [" << sequence.probability() << "].";
 
-    std::string curr_lane_id = sequence.lane_segment(0).lane_id();
+    // TODO(Prediction): remove the following line
+    // std::string curr_lane_id = sequence.lane_segment(0).lane_id();
     std::vector<TrajectoryPoint> points;
     DrawMoveSequenceTrajectoryPoints(*obstacle, sequence,
                                      FLAGS_prediction_duration,