1. Method for estimating a projected path of travel for a vehicle on a road, the method comprising: monitoring a plurality of sensor inputs; determining a road geometry in front of the vehicle based upon the monitored sensor inputs; determining a vehicle position in relation to the road geometry based upon the monitored sensor inputs; determining a plurality of particle points in front of the vehicle representing a potential path of travel from the road geometry and the vehicle position; and utilizing iteratively determined ones of the plurality of particle points to navigate the vehicle including omitting ones of the plurality of particle points passed by the vehicle.