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. To address this issue, this paper presents a novel multi-point vehicular positioning technology via emph{millimeter-wave} (mmWave) transmission that exploits multi-path reflection from a emph{target vehicle} (TV) to a emph{sensing vehicle} (SV), which enables the SV to fast capture both the shape and location information of the TV in emph{non-line-of-sight} (NLoS) under the assistance of multi-path reflections. A emph{phase-difference-of-arrival} (PDoA) based hyperbolic positioning algorithm is designed to achieve the synchronization between the TV and SV. The emph{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.
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