Method for improving prediction results of an advanced driver assistance system of a vehicle, comprising the steps of - obtaining a map data including information about at least a road geometry in a proximity of the vehicle, - assigning a position and orientation in the map to a sensing means for sensing a surrounding of the vehicle and being mounted on the vehicle, said assigning being performed by determining a position and orientation of the vehicle in the map and using a mathematical model of the sensing means including parameters describing a relative position and orientation of the sensing means to the vehicle, - generating a virtual sensing means output that corresponds to an output of the sensing means if the sensing means sensed the scene defined by the information included in the map data from the assigned position and with the assigned orientation, wherein the generation is based on the mathematical model of the sensing means and the mathematical model further includes characteristics of the sensing means, - sensing the surrounding of the vehicle and generating a sensing means output, - comparing the sensing means output and the virtual sensing means output, - modifying repeatedly the parameters of the mathematical model until a predetermined degree of fit between the virtual sensor output based on the modified parameters and the sensor output is achieved, - combining the map data with information derived from the sensing means output to generate combined information on the surrounding of the vehicle using the modified parameters, and - outputting the combined information for further processing in the advanced driver assistance system. - obtaining a map data including information about at least a road geometry in a proximity of the vehicle, - assigning a position and orientation in the map to a sensing means for sensing a surrounding of the vehicle and being mounted on the vehicle, said assigning being performed by determining a position and orientation of the vehicle in the map and using a mathematical model of the sensing means including parameters describing a relative position and orientation of the sensing means to the vehicle, - generating a virtual sensing means output that corresponds to an output of the sensing means if the sensing means sensed the scene defined by the information included in the map data from the assigned position and with the assigned orientation, wherein the generation is based on the mathematical model of the sensing means and the mathematical model further includes characteristics of the sensing means, - sensing the surrounding of the vehicle and generating a sensing means output, - comparing the sensing means output and the virtual sensing means output, - modifying repeatedly the parameters of the mathematical model until a predetermined degree of fit between the virtual sensor output based on the modified parameters and the sensor output is achieved, - combining the map data with information derived from the sensing means output to generate combined information on the surrounding of the vehicle using the modified parameters, and - outputting the combined information for further processing in the advanced driver assistance system.