A method for determining wrong direction using a heat map includes: receiving sensor data from at least one sensor in communication with a hardware processor. The method also includes identifying a plurality of traffic participants and determining at least one attributes including at least a direction of travel. The method also includes generating the heat map based on the at least one attributes of the plurality of traffic participants, where the heat map indicates at least travel direction of the surface area. The method also includes receiving sensor data indicating a direction of travel and location of a first vehicle; and comparing the sensor data of the first vehicle with the heat map to determine when the first vehicle is traveling in an opposing direction to the travel direction of the heat map.
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