This work contributes to the autonomous vehicular communication and urban mobility improvements. The presented work summarises the author PhD research toward developing, evaluating, and integrating a visible light communication (VLC) system within the existing Cooperative Intelligent Transport Systems C-ITS architecture, together with suf cient hand-over algorithms enabling both VLC, Radio communication, and perception-based solutions. The work addresses the main radio-based Vehicle-to-Vehicle (V2V) communication limitations and challenges for C- ITS, where the core discussion tackles the hard-safety applications and intends to deploy the vehicular lighting system as a supportive communication solution for platooning of IVC-enabled autonomous vehicles. The feasibility and ef ciency of the presented VLC-RF system implementation and handover algorithms were subjects to profound investigations over six self-contained chapters, meant to facilitate a logical progression of materials and to enable a relatively easy access.