To ensure the safety and comfort of automateddriving vehicles in complex traffic environments, it is not only necessary to perceive the vehicle running state of surrounding obstacles at the current moment, but also predict the vehicle running state of surrounding obstacles in the time ahead. The application of High Definition map (HD) provides rich road information for the automated driving system. Therefore, this paper proposed an obstacle trajectory prediction algorithm based on HD map, which accurately predicts the trajectory of obstacles in the time ahead, so that the vehicle can make corresponding decision adjustment according to the trajectory of obstacles in the next 7 s, and improve the safety and comfort of automated driving. A multi-dimensional trajectory accuracy evaluation method is also proposed. The prediction accuracy is evaluated from various dimensions, which reflects the performance of trajectory prediction algorithm in different aspects.