  This paper presents a technology of sensing hidden vehicles by exploiting
multi-path vehicle-to-vehicle (V2V) communication. This overcomes the
limitation of existing RADAR technologies that requires line-of-sight (LoS),
thereby enabling more intelligent manoeuvre in autonomous driving and improving
its safety. The proposed technology relies on transmission of orthogonal
waveforms over different antennas at the target (hidden) vehicle. Even without
LoS, the resultant received signal enables the sensing vehicle to detect the
position, shape, and driving direction of the hidden vehicle by jointly
analyzing the geometry (AoA/AoD/propagation distance) of individual propagation
path. The accuracy of the proposed technique is validated by realistic
simulation including both highway and rural scenarios.
