1. A localization system within a vehicle comprising: a global position system (GPS) receiver; a radar sensor; a data storage device including program instructions stored therein; a symbolic map stored within the data storage device; and a controller operatively coupled to the data storage device, the GPS receiver, and the radar sensor, the controller configured to execute the program instructions to analyze data from the GPS receiver, data from the radar sensor, and data from the stored symbolic map, and determine a probabilistic vehicle location based upon the analysis, wherein the symbolic map comprises a map with lane-specific detail, and the probabilistic vehicle location is a location within an error envelope of a calculated GPS location which is most likely to be the actual vehicle location.