An autonomous driving system for a vehicle includes one or more controllers that execute instructions to monitor image data captured by one or more cameras. In response to detecting a road sign in the image data, the controllers interpret a message displayed by the road sign. The controllers classify the message conveyed by the road sign into a sign application class based on a time frame when the message conveyed by the road sign is applicable. In response to determining the message conveyed by the road sign is classified as a future traffic condition encountered by the vehicle, the controllers identify lane segments having one or more updated lane attributes that are impacted by the message of the road sign and determine a planned route based on the one or more updated lane attributes of the lane segments impacted by the message displayed by the road sign.