4 orbs of glowing light

driving down the street around 9:40pm in a quiet suburban neighborhood.  noticed 4 orbs of orange lights perfectly shaped gliding toward us.  they looked as though they were lighting for ends of an object (a square object).  we all tried to focus on whether something was on top of the lights, but every time we all tried to focus the object seemed as though it had an aura, so it was never clear enough to make out.  it made no sound. floated say 40 to 60 feet above us (4 people in the vehicle). was traveling in a southeasterly direction.
 once it passed us, it continued on the same path. eventually each light seemed to disappear, one by one in the far distance.
 there was a pedestrian and another car on the same street. both stopped to view what we were seeing. a relative in the same neighborhood out walking the dog saw them, as well.