The redesign of the trajectories though complex, can be accomplished by the application of methods for navigation, guidance and combination of knowledge of road traffic control of vehicles. In this work the communication between the infrastructures and the vehicles, between vehicles and from the vehicles to the infrastructures is performed through Visible Light Communication (VLC) using the street lamps and the traffic signaling to broadcast the information. Vehicle headlamps and taillights are used to transmit data to other vehicles or infrastructures allowing digital safety and data privacy. Data is encoded, modulated and converted into light signals emitted by the transmitters. Tetra-chromatic white sources are used providing a different data channel for each chip. As receivers and decoders, SiC Wavelength Division Multiplexer (WDM) devices, with light filtering properties, are used. The primary objective is to control the arrival of vehicles to an intersection and schedule them to cross at times that minimize delays. A further objective is to allocate delays between left-turns and forward movements, moderating the speed and slot between vehicles travelling in these directions, maintaining a safe distance from one to another. Pedestrians and bicycles are incorporated. A Vehicleto-Everything (V2X) traffic scenario is stablished and bidirectional communication between the infrastructure and the vehicles is tested, using the VLC request/response concept. A phasing traffic flow is developed as a proof of concept. The experimental results confirm the cooperative VLC architecture showing that communication between connected cars is optimized using a request/response concept. An increase in the traffic throughput with least dependency on infrastructure is achieved.