NLOS nodes under emergency situation need to be effectively localized for supporting the vehicle under emergency to deliver essential information to the target vehicles in the stipulated time period. However, the majority of the existing NLOS localization incur huge overhead and time delay with reduced degree of channel utilization. In this research, three NLOS localization approaches that concentrate on range-based, range-optimizations and range-free detection process with an integrated framework are proposed for minimizing the overhead and time delay with maximized channel utilization rate.