A method and system for predicting a future position of a horizon time T h of an automotive vehicle. The method determines the position of the vehicle at time T o using GPS and the speed, acceleration and angle of the steering wheel attune T o from appropriate sensors on the vehicle. A nonlinear mathematical model utilizing these factors is then created while the position of the vehicle at time T o + T h is determined through numerical integration of the mathematical model using an adjustable step size T step. The step T step is modified adaptively in accordance with the accuracy requirements of the vehicle.