This achievement is story-related and cannot be missed.
You will get this after you made your way through the first indoors section in Arkham (After you have survived the first predator section in the game). As soon as you see the inner yard the achievement will unlock.
For a better orientation when this achievement should unlock, refer to the videos below:
(Video credit: DrCJLong)
(video credit: SSoHPKC )
Hope this helps you guys!
Any improvements? Please refer to the video below!