Controlling vehicle using static objects and heading angle

A non-transitory computer readable medium storing instructions that when executed by at least one processor cause operations to be performed, the operations comprising:

• 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;
• determining a third location for the vehicle based on a heading angle of the vehicle and a first travel distance of the vehicle since the first location;
• 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.

A vehicle comprising:

• an advanced driver assistance system (ADAS) configured to control motion of the vehicle, the ADAS including a heading angle monitor configured to determine a heading angle of the vehicle;
• a sensor configured to generate a first sensor return indicating at least a first static object and a second static object;
• and
• a speed sensor configured to determine a first travel distance of the vehicle since a first location;
• wherein the ADAS is configured to i) determine a second location for the vehicle based on the first sensor return, ii) determine a third location for the vehicle based on the heading angle and the first travel distance, (iii) determine a fourth location for the vehicle by fusing the second and third locations with each other, and iv) control the motion of the vehicle based on the fourth location.