According to some embodiments, systems, methods, and media for operating an autonomous driving vehicle (ADV) encountered with small objects are described. According to a method, the ADV, when detecting an object in a lane in which the ADV is travelling, can determine whether the ADV can safely drive over the object based on attributes of the object and attributes of the ADV, and if so, can generate one or more planned trajectories that each enable the ADV to drive over the object. From the one or more planned trajectories, the ADV can select a planned trajectory that enables the ADV to drive over the object along the centerline of the ADV without causing the ADV to drive out of the lane. If no such planned trajectory exists, the ADV can bypass the object, or stop within a predetermined distance of the object.