This research investigates the potentiality of Cooperative Vehicular Positioning in Intelligent Transportation Systems (ITSs) to mitigate the impacts of road transportation including road injuries, energy waste, and environmental pollution. At present, vehicular system is mainly based on the use of Global Navigation Satellite System (GNSS), that provides an absolute positioning with a good performance in open outdoor environments but, with a significant degradation or unavailability in urban canyons. However, thinking about a further improvement of absolute positioning capabilities is something unrealistic. Several works have pointed to Cooperative Positioning (CP) in vehicular networks, as the enabling technology to improve the quality of the estimated vehicles position in terms of space/time availability and reliability.