System and method for determining actions of a vehicle by visible light communication

A method of determining one or more actions of a vehicle approaching an intersection including traffic lights, comprising:

• receiving traffic information from the traffic lights;
• detecting, by a sensor, a speed of the vehicle;
• determining, by processing circuitry, a distance between the vehicle and the intersection;
• calculating an amount of time for the vehicle to reach the intersection;
• comparing the traffic information with the amount of time;
• and
• determining the one or more actions of the vehicle based on the comparison,
• wherein the processing circuitry determines the distance based on the traffic information and at least one of localization information, vehicle information, and timing information.