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, comprising: collecting, by the on-board computer of the vehicle, measurements from the vehicle sensors; computing, by the on-board computer of the vehicle, propagation of vehicle pose with respect to consecutive time instances; performing, by the on-board computer of the vehicle, a curve-fitting process; performing, by the on-board computer of the vehicle, a sub-routine of updating at least one observation model based on results of the curve-fitting process; performing, by the on-board computer of the vehicle, a tracking sub-routine to update the vehicle pose in terms of data particles; and performing, by the on-board computer of the vehicle, a particle-filtering sub-routine based on the data particles to compute the new vehicle pose, the particle-filtering sub-routine employing a sampling technique for identifying, from amongst the data particles being of a first distribution, more-applicable data particles and less-relevant particles.