Information and communication technologies enable optoelectronic cooperative vehicular systems with bi-directional communication, where vehicles communicate with other vehicles, road infrastructures, traffic lights, and vulnerable road users. We use the concept of request/response for the management of a trajectory in a two-way-two-way traffic lights controlled crossroad, using visible-light communication (VLC). The connected vehicles receive information from the network (Infrastructure to Vehicle, I2V), interact with each other (Vehicle to Vehicle, V2V) and with the infrastructure (Vehicle to Infrastructure, V2I), using a request distance and pose estimation concept. In parallel, an intersection manager (IM) coordinates the crossroad and interacts with the vehicles (I2V) using the response distance and the pose estimation concepts. The communication is performed through VLC using the street lamps and the traffic signaling, to broadcast the information. Data are 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 considered. A simulated vehicle-to-everything (V2X) traffic scenario is presented, and a generic model of cooperative transmission is established. The primary objective is to control the arrival of vehicles to the intersection and schedule them to cross over at time instants that minimize delays. A phasing traffic flow is developed as a proof of concept (PoC). The simulated/experimental results confirm the cooperative VLC architecture. Results show that the communication between connected cars is optimized using a request/response concept and that pose analysis is an important issue to control driver’s behavior in a crossroad. The block diagram conveys that the vehicle’s behavior (successive poses) is influenced by the maneuver permission, by the I2V messages and also by the intersection redesigned layout and presence of other vehicles. An increase in the traffic throughput with least dependency on infrastructure is achieved.