  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.
