This paper investigates the connected vehicle concept at intersections with traffic signals control and proposes the use of Visible Light Communication (VLC) in Vehicular Communication Systems for vehicle safety applications. A smart vehicle lighting system that combines the functions of illumination, signaling, communications, and positioning is presented. A generic model of cooperative transmissions for vehicular communications services is established. Three specific vehicular communications systems are analyzed. One is for Infrastructure-to-Vehicle communications from the street lamps, located on roadside, to the vehicles; the other is for in line Vehicle-to-Vehicle communications and the last for Vehicle-to-Infrastructure communications from cars to the traffic lights, at the crossroad. An on-off code is used to transmit data. The encoded message contains the ID code of each emitter concomitantly with a traffic message that is received, decoded and resent to another vehicle or to traffic light, in the crossroad. An algorithm to decode the information is established. A phasing traffic flow is presented as a proof of concept.