  In this paper, we investigate using Ultra-Wideband (UWB) technology in
vehicles for localization as well as other possible infrastructure-free
applications.
  To that end, we first introduce the on-vehicle UWB anchor layout, then
conduct a theoretical analysis to shed light on the capabilities and
limitations of using UWB anchors with this layout. To verify the analysis
conducted, extensive field trials are performed, which yield results that match
the predictions of the conducted analysis.
  Finally, Virtual Pedestrian Traffic Light (VPTL), an infrastructure-free
pedestrian traffic light system is introduced as an example application of the
presented approach.
