An optical sensor can include a transmitter for transmitting a light and one or more optical receivers or sensors to receive light reflected from other vehicles and objects. The apparatus can include a first optical angle sensor to receive from an object first reflected light at a first angle between the object and the first angle sensor. The apparatus can further include a second optical angle sensor to receive second reflected light from the object at a second angle between the object and the second angle sensor. The first reflected light and the second reflected light can be the transmitted light reflected from the object. Circuitry can receive the first and second angles from the first and second optical angle sensors and can process the measured first and second angles to determine the position of the object.