Millimeter-Wave Multi-Point Vehicular Positioning for Autonomous Driving.

Multi-point detection of the full-scale environment is an important issue in autonomous driving. The state-of-the-art positioning technologies (such as RADAR and LIDAR) are incapable of real-time detection without line-of-sight (LoS). To address this issue, this paper presents a novel multi-point vehicular positioning technology via millimeter-wave (mmWave) transmission that exploits multi-path reflection from a target vehicle (TV) to a sensing vehicle (SV), which enables the SV to fast capture both the shape and location information of the TV in non-LoS (NLoS) under the assistance of multi-path reflections. A phase-difference-of-arrival (PDoA) based hyperbolic positioning algorithm is designed to achieve the synchronization between the TV and SV. The stepped-frequency-continuous-wave (SFCW) is utilized as signals for multi-point detection of the TVs. Transceiver separation enables our approach to work in NLoS conditions and achieve much lower latency compared with conventional positioning techniques.