CONTROLLING VEHICLE USING STATIC OBJECTS AND VEHICLE CURVATURE

A method comprises: determining that a vehicle is at a first location; controlling motion of the vehicle using an advanced driver assistance system (ADAS); determining a second location for the vehicle based on receiving a first sensor return indicating at least a first static object and a second static object, and based on a first travel distance of the vehicle since the first location; determining a third location for the vehicle based on lane sensing information of a lane monitoring system of the vehicle and a second travel distance of the vehicle since the first location, the lane sensing information reflecting a vehicle curvature; determining a fourth location for the vehicle by fusing the second and third locations with each other; and controlling the motion of the vehicle using the ADAS based on the fourth location.