1. A method performed by a vehicle having an on-board computer, vehicle sensors, a satellite-positioning unit, a database storing a lane-level map for determining a new pose of the vehicle using map matching, the method comprising: the on-board computer of the vehicle receiving new data from at least one of the vehicle sensors; the on-board computer of the vehicle collecting measurements from the vehicle sensors; the on-board computer of the vehicle computing propagation of vehicle pose with respect to consecutive time instances; the on-board computer of the vehicle performing a curve-fitting process; the on-board computer of the vehicle performing a sub-routine of updating at least one observation model based on results of the curve-fitting process; the on-board computer of the vehicle performing a tracking sub-routine including using a probability distribution to update the vehicle pose in terms of data particles; and the on-board computer of the vehicle performing a particle filtering sub-routine based on the data particles to compute the new vehicle pose.