Cooperative, Connected and Automated Mobility (CCAM) services require precise and reliable localization services able to infer and track the position of a vehicle with lane accuracy. The H2020 5GCroCo project, which trials 5G technologies in the European cross-border corridor along France, Germany and Luxembourg, as well as in five small-scale trial sites, considers different technologies to enhance vehicle localization, including GPS-Real Time Kinematic (GPS-RTK), Ultra-WideBand (UWB) and Inertial Sensors (INS). This paper presents a compact prototype, which integrates these localization technologies with 5GCroCo's On-Board Unit (OBU) equipment, and its evaluation within the scope of the Anticipated Cooperative Collision Avoidance (ACCA) Use Case demonstrated in Barcelona small-scale trial site. © 2022 IEEE. ; This work has been supported by the EC under grant agreement No. 825050 (5GCroCo), by the European Union Regional Development Fund (ERDF) through project Fem IoT and by MCIN/AEI/10.13039/501100011033 under grant PID2020-112675RB-C43. The realization of the trial has been supported by Barcelona's Institut Municipal d'Informàtica.