Motivated by safety applications in urban vehicular scenarios, where GPS does not typically provide the required positioning accuracy, a GPS-free localization technique that exploits vehicle-to-infrastructure communications is proposed. In particular, it provides for a vehicle to opportunistically use the beacon packets received from a roadside unit (RSU) in order to obtain estimates of their angle of arrival. Such estimates, together with the RSU's position information within beacon packets, are fed to a weighted least squares algorithm that aims at localizing the vehicle. The algorithm tries to take advantage of reliable measurements typically collected closer to the RSU—where a very high signal-to-noise ratio yields an accurate angular resolution—while keeping robustness against multipath phenomena. Simulation results show the effectiveness of the proposed technique.