A system and method of utilizing a LIDAR digital map improves automatic device by allowing a self-driving vehicle to safely make a sharp turn or pass by an environmental obstacle. The system includes at least one passenger vehicle, an automated driving system, and at least one roadside device. Road-condition data is continuously captured with a passenger LIDAR system and a passenger camera device of the passenger vehicle. The road-condition data is compared to LIDAR profiles with an automatic driving system in order to identify a matching profile. A roadside device is pinged if at least one non-line-of-sight condition is detected in the road-condition data. Hidden target data is retrieved from the roadside device to the automated driving system. The automated driving system compiles a set of driving instructions. The set of driving instructions is executed with the passenger vehicle through the automated driving system.