System and method for estimating localization of a vehicle

A system for estimating a localization of a vehicle, the system comprising:

• processing circuitry configured to:
• obtain, one or more route attributes from navigation data providing route information with respect to the vehicle's navigation on the route;
• receive information on the vehicle's kinematic state with respect to the vehicle's navigation on the route from one or more sensors;
• generate virtual route boundaries on a route model based on the obtained one or more route attributes;
• generate a plurality of particles on the route model, each particle representing a hypothetical vehicle's state on the route;
• assign weights to each particle according to one or more trajectory constraints associated with the navigation of the vehicle;
• and
• estimate localization of the vehicle based on a set of weighted particles from the plurality of weighted particles, wherein the set of weighted particles are constrained within the virtual route boundaries.