We assess the use of an acoustic ranging system for vehicle safety applications in GPS-denied areas. The system coordinates acoustic vehicle tracking via RF signaling and informs the vehicle of its position relative to potential hazards. To accurately track the position and orientation and be robust against interferer, we use a distinct pseudo-random sequence for each emitter. The Doppler shift due to the movement of the vehicle, degrades the autocorrelation of the ranging sequence, and is compensated via a velocity search algorithm. The testing platform consists of a microphone array suspended over the roadways with receivers and a pair of speakers on the vehicle's bumper acting as the acoustic emitters.