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Current Challenges For Visible Light Communications Usage in Vehicle Applications: A Survey

Current Challenges for Visible Light Communications Usage in Vehicle Applications: A Survey

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Current Challenges For Visible Light Communications Usage in Vehicle Applications: A Survey

Current Challenges for Visible Light Communications Usage in Vehicle Applications: A Survey

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This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/COMST.2017.2706940, IEEE
Communications Surveys & Tutorials
> COMST-00267-2016, COMST2706940, DOI: 10.1109/COMST.2017.2706940 < 1

Current Challenges for Visible Light

Communications Usage in Vehicle
Applications: A Survey
Alin-Mihai Căilean and Mihai Dimian


Abstract—In the context of an increasing interest toward Index Terms— IEEE 802.15.7 standard; inter-vehicle
reducing the number of traffic accidents and of associated communications; optical communications; visible light
victims, communication-based vehicle safety applications have communications; vehicle safety.
emerged as one of the best solutions to enhance road safety. In
this area, visible light communications (VLC) have a great I. INTRODUCTION
potential for applications due to their relatively simple design for
basic functioning, efficiency and large geographical distribution.
This article addresses the issues related to the VLC usage in
vehicular communication applications, being the first extensive
I N THE recent years, the modern society shows an
increasing interest towards wireless communication
technologies. Furthermore, this demand is expected to increase
survey dedicated to this topic. Although VLC has been the focus exponentially in the next years [1]. Facing this unprecedented
of an intensive research during the last few years, the technology request represents a major challenge for the next years.
is still in its infancy and requires continuous efforts to overcome
However, in spite of all efforts, due to the limited available
the current challenges, especially in outdoor applications, such as
the automotive communications. This article is aimed at bandwidth, the current networks are not able to fully satisfy
providing an overview of several research directions that could this traffic demand. Therefore, a new wireless
transform VLC into a reliable component of the transportation communications technology is strongly required to fill-in the
infrastructure. The main challenges are identified and the status existing gap.
of the accomplishments in each direction is presented, helping An alternative to the existing radio frequency (RF) based
one to understand what has been done, where the technology
wireless communications is represented by the visible light
stands and what is still missing. The challenges for VLC usage in
vehicle applications addressed by this survey are: 1) increasing communications (VLC) technology. VLC uses the visible light
the robustness to noise; 2) increasing the communication range; (380 – 780 nm) as a carrier for the data, and thus it offers a
3) enhancing mobility; 4) performing distance measurements and 1000 times greater bandwidth compared to the RF
visible light positioning; 5) increasing data rate; 6) developing communications. Furthermore, the visible light spectrum is not
parallel VLC and 7) developing heterogeneous dedicated short regulated and therefore the cost of the technology is
range communications (DSRC) and VLC networks. Addressing
significantly reduced. The huge available spectrum enables
and solving these challenges lead to the perspective of fully
demonstrating the high potential of VLC and therefore to enable VLC to achieve very high data rates that can currently go up
the VLC usage in road safety applications. This article also to few tens of Gb/s [2], [3]. Moreover, since this data rate has
proposes several future research directions for the automotive been achieved in less than a decade after the beginning of
VLC applications and offers a brief review on the associated VLC systems development, it is obvious that the technology’s
standardization activities. potential is even greater. Furthermore, higher data rates could
be achieved by using multiple input multiple output (MIMO)
This work was supported by a grant of the Romanian National Authority
for Scientific Research and Innovation, CNCS/CCCDI - UEFISCDI, project
communication techniques. These characteristics offer VLC
number PN-III-P2-2.1-PED-2016-2011, contract 36 PED/2017, within PNCDI the premise to be part of future 5G technologies [4] - [7]. The
III. The infrastructure used in this work was supported from the project VLC technology is also fully compatible to RF
“Integrated Center for research, development and innovation in Advanced
communications, so the two can complement each other,
Materials, Nanotechnologies, and Distributed Systems for fabrication and
control”, Contract No. 671/09.04.2015, Sectoral Operational Program for forming hybrid or heterogeneous networks and further
Increase of the Economic Competitiveness co-funded from the European enhancing the communication performances [7], [8].
Regional Development Fund. (Corresponding author: Alin-Mihai Căilean.) Another important advantage of VLC is that unlike other
A.-M. Cailean is with the Integrated Center for research, development and
innovation in Advanced Materials, Nanotechnologies, and Distributed wireless communication technologies, VLC is safe for the
Systems for fabrication and control, Stefan cel Mare University of Suceava, human health. In comparison, the radio waves are currently
13 Universitatii str., 720229, Suceava, Romania, (e-mail: [email protected]). classified as a potential cause of cancer in humans [9] - [12],
M. Dimian is with Department of Electrical and Computer Engineering at
Howard University, Washington DC 20059, and with the Integrated Center for whereas the infrared (IR) light can cause irreversible thermal
research, development and innovation in Advanced Materials, damage to the cornea. Furthermore, VLC systems do not
Nanotechnologies, and Distributed Systems for fabrication and control, Stefan affect the functionality of the highly sensitive electronic
cel Mare University of Suceava, 13 Universitatii str., 720229, Suceava,
Romania, (e-mail: [email protected]; [email protected]). systems and thus, they can be used in RF restricted places (e.g.

1553-877X (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/COMST.2017.2706940, IEEE
Communications Surveys & Tutorials
> COMST-00267-2016, COMST2706940, DOI: 10.1109/COMST.2017.2706940 < 2

airplanes, hospitals, chemical or nuclear plants). Moreover, in communication is addressed but unlike in this work, the paper
the context of a growing interest to reduce greenhouse only considers the near IR band. A well detailed survey on
emissions, VLC is also energy efficient, since it uses no extra VLC can be found in [18]. Here, the authors justify the
energy for data transmission. In its case, the same light is used transition toward VLC, list the VLC benefits, describe the
for both illumination and as a carrier for the data. system structure, and approach the issues regarding hybrid
A major difference between VLC and RF communications VLC schemes, modulation techniques and light dimming.
comes from the inherent properties of the exploited Although this survey mentions the Intelligent Transportation
electromagnetic waves. The RF waves have the ability to System (ITS) as a related application, the paper is clearly
penetrate through most nonmetallic materials, whereas the focused on the indoor scenario. The authors of [19] also
visible light can only penetrate through transparent materials. provide a comprehensive survey on indoor VLC and detail the
Even though in some cases, the limited penetration capability aspects regarding VLC systems and their physical layer
acts as a disadvantage by limiting the mobility or the coverage characteristics, including channel modeling and modulation
area, it could also represent a major benefit, since it limits the methods, or medium access techniques. The fact that this
interferences between the non-Line-of-Sight (nLoS) systems article also mentions vehicular communication as a highly
and prevents eavesdropping. promising use case clearly points out the importance of the
In addition to the upper mentioned benefits, one of the domain and emphasizes the necessity of a survey presenting a
greatest advantages of VLC is the ubiquitous character. In detailed state of the art in this area. Furthermore, none of the
VLC, the data transmission capacity is enabled by fast existing surveys highlights the extra challenges involved by
switching light emitting diodes (LEDs), as an additional the outdoor environment or by the requirements imposed to
function besides lighting. Thus, the data is transmitted onto the the inter-vehicle communications domain.
instantaneous power of the light, at speeds unperceivable by The VLC usage in outdoor environments assumes
the human eye. Since it is mainly based on the already existing significantly different conditions and thus, there are dissimilar
lighting infrastructure, VLC has the potential to provide high- premises and expectancies. In this context, this article
speed wireless communications wherever there is artificial addresses the challenges imposed by the usage of VLC in
lighting, indoor and outdoor. Currently, the main application automotive applications. These challenges are at the same
area envisioned for the VLC technology is in providing high time: i) old as VLC, ii) quite current as the VLC developers
data rate indoor links for fast internet connections or for fast are still working on addressing them, and iii) still forthcoming
data broadcast. Significant efforts were made by the as the technology will have to be continuously improved. In
researchers in the area, allowing VLC to obtain impressive the existing VLC literature, there are several other papers that
results in a relatively short period. Another challenging address the challenges that could further enhance the VLC
application domain for VLC is represented by the technology and pave its way towards the market [19] - [22].
communication between vehicles and/or between traffic However, this is the first article that strictly refers to the
infrastructures and vehicles. Even though right from the early automotive-related VLC applications. Furthermore, unlike
stage VLC has been found suitable for traffic applications [13] other papers, this one offers an up to date review on how these
- [15], this domain has been rather neglected by the scientific challenges are addressed by the scientific community,
community, compared to the indoor VLC applications. In providing a summary of the existing solutions for each
indoor applications, the challenge was to provide high data challenge.
rate links with communication ranges of few meters. On the The rest of the survey is structured as follows. It begins by
other hand, in automotive applications, the challenge is to providing a view of the general structure of the VLC systems
achieve long range robust communications, but at the cost of in Section II. Section III emphasizes the motivations of using
lowering the data rate. VLC in vehicular communication applications, underling its
This survey addresses the usage of the VLC technology in advantages, and points out the similarities and the differences
vehicular communication applications, as a possible way to compared to the indoor VLC scenario. Section IV highlights
increase the safety and efficiency of road transportation. the technology shortcomings and points out the challenges in
Although this domain is almost 20 years old, as far as we the field. The scientific community response to these
know, there are no conclusive reviews on this topic. Indeed, challenges is reviewed, pointing out the main solutions found
there are several reviews on the VLC usage [16] - [19], but for their overtaking. Section V contains a discussion about the
neither of them strictly addresses the usage of VLC in road ahead, proposes several future research directions that
automotive applications. Thus, in [16], after addressing the could be addressed and resumes the activities related to the
aspects related to free space optical (FSO) communications, VLC standardization, whereas Section VI presents the
smart lighting and VLC, the authors conclude that the problem conclusions of this survey.
of wireless networking and of energy efficient lighting should
be treated together, rather than as complementary II. GENERAL ARCHITECTURE OF A VISIBLE LIGHT
technologies. Hence, the solid state lighting (SSL) emitters COMMUNICATIONS SYSTEM
should be developed considering the requirement for both A VLC system mainly consists of a VLC transmitter that
lighting and networking, and thus a tradeoff should be sought. modulates the LED produced light and a VLC receiver based
In [17], the problem of outdoor long range FSO on a photosensitive element (generally a positive-intrinsic-

negative (PIN) photodiode or an image sensor) that is used to frequency) depends on the switching abilities of the LEDs,
extract the data signal from the modulated light beam. The while the emitter’s service area depends on the transmission
transmitter and the receiver are physically separated from each power and on the illumination pattern (i.e. emission angle).
other, but connected through the VLC channel. For VLC Currently, the SSL industry is able to produce general purpose
systems, the line-of-sight (LoS) is a mandatory condition. A LEDs that can offer switching frequencies of few tens of
schematic of a VLC system is illustrated in Fig. 1. As the VLC megahertz. However, as VLC is rapidly advancing toward
system’s structure is detailed in [18], this section will provide multi-Gb/s data rates, the LEDs “slow” switching capacity is
only the information necessary for a proper understanding of the one limiting the system’s performances [23].
the rest of the article, without approaching all the aspects An argument in favor of VLC development comes from the
related to the hardware development and implementation of simplicity of transforming any LED light source into a VLC
the VLC systems. emitter. Simply by adding an encoder module consisting of a
microcontroller and a digital power switch, the LED light
A. VLC emitter
source is able to become a broadcast station unit. A second
The VLC emitter transforms information into messages that argument comes from the advantages of using LED lighting
can be transmitted over the FSO medium by using visible sources and their envisioned omnipresent distribution. As a
light. The purpose of the VLC emitter is to simultaneously matter of fact, LED lighting sources are expected to totally
provide illumination and to transmit data. However, the data replace incandescent, fluorescent and halogen lighting [24]-
transmission must not affect in either way the lighting or [26]. Accordingly, VLC has the potential of becoming a
signaling functions. From this reason, the VLC emitter must ubiquitous wireless communication technology.
use the same optical power or if the application requires it, to
allow for light dimming. Furthermore, the VLC emitter must B. VLC receiver
not induce any noticeable flickering. The VLC receiver is used to extract the data from the
A central component of the VLC emitter is the encoder modulated light beam. It transforms the light into an electrical
which converts the data into a modulated message. The signal that will be demodulated and decoded by the embedded
encoder commands the switching of the LEDs according to the decoder module. Depending on the required performances and
binary information and the required data rate. The binary data on the cost constraints, the decoder can be based on a
are thus converted into a modulated light beam. In the simplest microcontroller or a FPGA. The careful design of the VLC
case, the data is modulated using On-Off Keying (OOK), but receiver represents a serious issue because in most
more complex modulation techniques might be used as well. applications, the VLC receiver’s performances have the
Detailed information regarding other modulation techniques greatest influence on the performances of the VLC system,
used in VLC applications can be found in [17]-[19]. A cost determining the communication range and the resilience
effective solution for the encoder is represented by the usage against interferences.
of microcontrollers. In most cases, their quality is high enough 1) Photodiode based VLC receivers
to ensure relatively good performances. However, in more Generally, the VLC receivers are based on photosensitive
complex applications, the microcontroller must be substituted elements which have high bandwidth and offer the possibility
by a Field Programmable Gate Array (FPGA) which will be of high-speed communications. However, as the incident light
able to provide improved performances. might contain parasitic light coming from other light sources
The parameters of the VLC emitter are mainly limited by (i.e. artificial or natural), the receiver is subject to significant
the characteristics of the LEDs. The data rate (i.e. transmission interferences. The performances of the VLC receiver can be

Fig. 1. Basic architecture of a visible light communications system: a) emitter; b) receiver.

enhanced by using an optical filter that rejects the unwanted the low cost cameras have up to 50 fps, which means that such
spectrum components, such as the IR component. Moreover, devices can only achieve very low data rates. The data rate can
in high speed applications using white light, the optical filter be enhanced up to several kb/s by using the rolling shutter
allows only the passage of a narrowband radiation, property of the camera [30], [31]. The rolling shutter is a
corresponding to the blue color. The reason for this choice is procedure which uses a row by row reading of the pixels
that the white light is obtained from blue LEDs and yellow instead of reading the entire matrix at once. Yet, the results are
phosphor, and in this case, only the blue component of the only suitable for static low data rate applications. An attempt
white light is used for the signal processing [27], [28]. to develop vehicle VLC systems using low-cost image sensor
The effect of the interferences can also be reduced by is found in [32]. However, the communication distance is
narrowing the receiver field of view (FOV), which in below 1 meter, and therefore its usage in automotive
consequence influences the service area. A wider FOV enables application can be only limited.
a wider service area but comes with the disadvantage of Significantly improved results are obtained when high
capturing more noise, leading to signal to noise ratio (SNR) speed cameras are used. In their case, the number of fps is
degradation. However, indoor short-range applications require about 1000, and therefore higher data rates of up to several
increased mobility and the possibility of narrowing the FOV is Mb/s and long distance communications are enabled. The
not considered in most of the cases. On the other hand, for main advantage of image sensor VLC receivers is the
outdoor long-range applications, where the range induces enhanced FOV which allows a wide area data reception. All
small angles, the narrow FOV is an effective solution. The these characteristics make image sensor VLC receivers to be a
receiver’s FOV is determined by the FOV of the optical strong candidate for mobile long distance applications, as in
system, which also concentrates the light on the photodetector the automotive domain. Nevertheless, it must be pointed out
by using a lens. The photodetector is usually based on a that the high performances come at a very high cost, limiting
reverse biased silicon photodiode operating in their extended use applicability.
photoconductive mode that generates a current proportional to Before ending this section another major difference between
the incident light. The value of the photocurrent also depends photodiode and image sensor VLC receivers must be pointed
on the photodiode’s spectral sensitivity. From this reason, out. In the case of photodiode-based receivers, the background
increasing the area of the photodetector can enhance the noise is received and processed simultaneously with the data
performances of the system. However, the area of the signal, whereas the camera-based receivers are able to
photodetector strongly influences its capacitance, which in spatially isolate the noise sources. Further on, in photodiode
turn influences the achievable bandwidth. In these based receivers the data is recovered by using different types
circumstances, choosing the photodetector’s area represents a of analog and/or digital signal processing techniques, whereas
compromise between SNR and bandwidth. Next, due to the in the second case, the information is obtained based on high
small values of the generated photocurrent, a transimpedance complexity image processing techniques. In some cases, the
circuit is used to transform the small current into a voltage. increased complexity of these procedures does not allow real
The transimpedance solution offers a fair trade-off between time data decoding or, when it does, it requires a powerful and
gain-bandwidth product (GBP) and noise. The voltage thus expensive data processing unit. As this article addresses
provided by the transimpedance circuit is amplified and the VLC usage in automotive applications, where the cost
filtered to remove high and low frequency noise, and also the control is an essential aspect, it can be considered that at least
DC component. After all these operations, the signal should for the near future, camera-based VLC systems are mainly
correspond to the emitted signal containing the data. Then, the reserved for laboratory prototypes and not for the general
data processing unit decodes the information from the usage.
reconstructed signal obtaining the original message.
2) Camera based VLC receivers III. CONSIDERATIONS ON THE VLC USAGE IN VEHICULAR
Considering the multitude of devices that are already APPLICATIONS
equipped with cameras (e.g. smartphones, tablets, laptops or The following section addresses the opportunity of using
automobiles), image sensors are also being used in VLC VLC for inter-vehicle communications, presenting some of the
applications for the light reception. As an extended survey characteristics of the technology, its advantages considering
regarding optical communications based on image sensors can the use in automotive applications and the main characteristics
be found in [29], this subsection will only point out some that differentiate vehicular VLC applications from the indoor
relevant characteristics of the image sensors receivers. VLC ones.
The image sensor consists of a high number of
A. General Context
photodetectors arranged in a matrix or on an integrated circuit.
Although widely spread, such devices have several drawbacks The number of automobiles that use the transportation
considering the VLC usage. A first problem comes from their infrastructure is constantly increasing. Within this context, the
noise performances which are lower than the ones of number of victims resulting from traffic accidents is also
independent photoelements. However, the main limitations increasing, making road accidents one of the leading causes of
come from the camera’s limited number of frames per second death [33] - [35]. Furthermore, for young people aged between
(fps), which limit the communication performances. Most of 15 and 29 years, traffic accidents represent the leading cause

of mortality [34], [35]. On these grounds, the scientific

community, the automotive industry and the governmental
agencies are joining their efforts to increase the safety of
vehicles and roads. These joint efforts have led to a new
paradigm in vehicle safety. If in the past, the research efforts
were directed on how to help people survive accidents,
currently, the research efforts are focused on how to help
people avoid accidents. Within this context, it is considered
that the safety and the efficiency of the transportation system
can be substantially increased by using wireless
communications to enable real-time data exchange between
vehicles and traffic infrastructures. By combining vehicle to
vehicle (V2V) and infrastructure to vehicle (I2V/V2I)
communications, up to 81% of all vehicle crashes could be
prevented [36]. However, supporting inter-vehicle Fig. 2. Integration of LEDs lighting systems in series vehicles.
communications is rather problematic because of the channel
characteristics and of the strict limits for quality of service.
The VLC technology has the potential to significantly enhance
the performances of vehicular networks, especially in high
traffic densities [37], as it is not affected by the broadcasting
storm phenomenon [38], [39].
The Intelligent Transportation System (ITS) [40] considers
using state-of-the-art cooperative technologies in order to
reduce the number of accidents and of associated fatalities.
Furthermore, the ITS aims to improve the efficiency of the
transportation system and therefore, to reduce the CO2
emissions. ITS adds value to the transportation system by
providing real-time access to relevant traffic information. By
using I2V/V2I and V2V communications, ITS continuously
collects traffic data, analyzes it and distributes it, in order to
increase the vehicle awareness. Moreover, this information
enables an efficient management of the transportation system,
increasing efficiency and reducing traffic jams. The assembled Fig. 3. Examples of LEDs usage as part of the transportation infrastructure.
data is used to automatically adjust the transportation system
to different traffic situations. Therefore, a crucial aspect for
based traffic lights as well. This new generation of LED-based
the ITS is the widespread distribution. However, in order to
traffic lights is rapidly gaining popularity and its usage on
ensure its effectiveness, the system requires a large
extended scale is only straightforward. These traffic lights
geographical distribution of the intelligent vehicles and of the
have as advantages a low maintenance cost, long life and low
intelligent infrastructures, enabling it to gather more data and
energy consumption and also offer a better visibility. While
to efficiently distribute it. Withal, a major challenge for the
some of the cities authorities have already replaced the
ITS is to maintain the implementation cost as low as possible,
classical traffic lights with LED-based traffic lights, other
but without affecting its reliability.
cities are progressively following this trend. The standard
The benefits of adding intelligence to the transportation
sizes for the traffic lights are 200 and 300 mm in diameter
system are the efficient monitoring and management of the
[42]. The LED-based traffic light consists of a large number
traffic, which in turn can help reduce congestion and provide
(100 - 200) of LEDs that offer besides the signaling function,
optimized alternative routes, depending on the traffic situation.
the possibility to provide data communication. The
Increasing the efficiency of the transportation system will help
enhancement of the LED traffic light with communication
save time, money and will reduce pollution.
capabilities does not affect its compliance to the traffic
B. Advantages of VLC usage in vehicular applications regulation standards.
LEDs are highly reliable, energy efficient, whereas their Considering the trends in the lighting industry, it is
life-time exceeds the one of classical light sources. These expected that in the near future, street lighting will be LED
unique characteristics made the car manufacturers consider based as well. Therefore, with the help of the VLC
replacing the classical halogen lamps by LED lighting systems technology, the road illumination will also be able to provide
[41]. Currently, LED-based vehicle lighting systems are communication support as in [43], [44]. In such a case, the
commonly used on production vehicles (see Fig. 2). constant short distance between the street light and vehicles,
The efficiency of the LEDs made them being used for LED- along with the high power implied, enables high data rates and

Fig. 4. VLC usage scenario: road safety data is transmitted using the vehicle lighting systems, the street lighting system and the traffic lights.

increased communication stability. Under these circumstances, towards the approaching vehicles with the help of intelligent
this particular case of I2V VLC has a huge developing traffic lights and of the street lighting system. Additionally,
potential. Moreover, due to the low-cost and high the vehicles are able to exchange data concerning their state
reliability, LEDs begun to be integrated in traffic signs as (e.g. location, velocity, acceleration, engine state, etc.). In the
well, in order to improve the visibility. Currently, this type of case of RF, the problem of market penetration is considered a
traffic signs are used mainly on the road segments which are serious issue that can block the deployment. It is estimated
considered with a high accident risk. Several examples of that in order for such a system to begin being effective it
LED usage as part of the transportation infrastructure are requires at least a 10% market penetration [45]. However, to
illustrated in Fig. 3. achieve this, it would require a few years in which the system
Considering the upper mentioned context, one can see that brings little or no benefits, meaning that the deployment cost
LED-based lighting will be part of the transportation system, is mostly supported by the early buyers. Notwithstanding that
being integrated in vehicles and also in the infrastructure. The a significant part of the consumers replace the car in this
large geographical area in which LEDs lighting will be used, period without having any benefit from the purchased system.
combined with VLC technology will allow ITS to gather data
C. Differences between the indoor and the outdoor scenarios
from a widespread area and thus, the VLC technology can
enable widespread distribution of high quality Before moving toward the challenges which slow down the
communications. The success of the ITS is largely dependent advancements in vehicular VLC applications, this section
on its penetration. Insufficient penetration means insufficient briefly emphasizes the issues that differentiate the outdoor
data collection and distribution. If it is to think of RF solutions from the indoor scenarios, highlighting the similarities and the
for the ITS, this will not be possible for a long time ahead differences.
because, in order the system to be effective, it is needed that 1) Considerations on the communication premises,
all intersection and streets to be equipped with RF units, which associated expectancies and on the communication channel
implies a huge implementation cost. Hence, one of the Although we are talking about a single technology and thus
strongest advantages of VLC is its low complexity and the a similar operating principle, the VLC usage in outdoor
reduced implementation cost. Being already half integrated in applications assumes different expectations, dissimilar channel
conditions and therefore rather different challenges. First of
the existing transportation infrastructure, as well as in vehicle
all, indoor applications are expected to provide very high data
lighting systems, makes VLC a ubiquitous technology and
rates (multi Gb/s) for distances that are usually below 2 or 3
ensures it a fast market penetration. A scenario that illustrates meters (i.e. the distance between the celling and the
the usage of VLC in communication based vehicle safety workspace). On the other hand, outdoor applications in
applications is presented in Fig. 4. Here, road safety data (e.g. general and automotive applications in particular, are expected
location data, phase of the traffic light and time before next to provide significantly larger communication distances (i.e.
change, maintenance work and speed limits) is broadcasted currently up to 100 meters) and in consequence, lower data

rates can be achieved. Furthermore, if we strictly refer to as 0.1%). Supporting communication in these circumstances
communication-based vehicle safety applications, this use case implies the usage of specially designed modulation
requires very high packet delivery ratio (PDR) and latencies as techniques. The IEEE 802.15.7 standard [46] for optical
low as 20 ms [37], meaning that a higher robustness to communications using visible light proposes two solutions for
disturbances is expected. high resolution diming based on OOK and variable pulse
Besides the significantly different expectancies for position modulation (VPPM), but in their case the diming is
vehicular VLC versus indoor VLC, another major difference achieved by reducing the data rate, respectively by reducing
between them comes from the totally dissimilar channel the communication distance.
conditions. In indoor applications, the influence of the ambient Concerning V2V applications, in their case no dimming is
light interferences is negligible, as the light of the VLC emitter implied whatsoever, as the vehicle lighting systems have a
is usually the main source of light. Compared to the indoor constant light intensity. The same statement can be true for
channel, the outdoor one is significantly more problematic, as I2V applications as well. Here, the traffic lights or the traffic
it is strongly influenced by the background solar radiation. In signs do not change the lighting intensity. On the other hand,
this case, the power of the incident parasitic light can be up to I2V communications based on the street lighting systems
10 mW/cm2, compared to the power of the light containing the might involve diming for energy saving applications based on
information which can be as low as few μW/cm2, light intensity control. However, in such applications, the
Furthermore, the outdoor VLC channel also involves the diming resolution is less essential, allowing for diming
presence of other light sources, disturbances caused by the resolution as high as 10%.
weather, whereas the dynamics of the vehicular environment Another VLC specific problem is related to light intensity
make the channel highly unpredictable. Hence, achieving the flickering. The IEEE 802.15.7 standard is again very strict in
mandatory robustness becomes much more problematic in this this problem and it proposes only the usage of run length
case. limited (RLL) coding (e.g. Manchester, 4B6B, or 8B10B).
In conclusion, indoor applications have as main challenge to Such codes prevent flickering by having an equal number of
find enhanced designs and improved modulations techniques 1s and 0s. However, as demonstrated in [47], the Manchester
with the purpose of increasing the data rate, whereas in code for example is very bandwidth consuming, whereas
vehicular communication, the main goal is to mitigate the 4B6B or 8B10B codes are less throughput efficient. In
effects of the intense ambient interferences and to ensure a vehicular applications the flickering mitigation can be less
reliable long range link. rigorous, as the exposure to the modulated light is rather short
2) Bidirectional communications - very problematic in and also less direct. Furthermore, due to the high modulation
indoor applications quite simple in vehicular applications: frequencies, the flickering effect is only limited. This fact can
A challenging issue regarding indoor VLC applications is enable the usage of other codes, besides the RLL ones. Being
represented by the bidirectional communications. Establishing able to use other codes is quite important, as different codes
VLC bidirectional communications represents a major issue in can ensure higher performances in different situations. Thus,
the case of indoor applications. Besides the technical the Miller code was found to be suitable for future MIMO
difficulties caused by the mobile conditions, the most applications [47], [48], spread spectrum codes were found to
important problem is represented by the fact that the majority increase the robustness to noise [49], [50], overlay coding
of the indoor devices do not have a lighting function that could enables hierarchical coding ensuring the reliability of the high
be used for data transmission. To solve this problem, indoor priority data [51], whereas multi-tone codes offer the premises
for higher data rates.
applications consider the usage of a second communication
technology (i.e. generally RF or IR) for the data upload. This
IV. CURRENT CHALLENGES REGARDING VLC USAGE IN
approach is quite efficient in terms of achievable data rate, but
VEHICULAR COMMUNICATION APPLICATIONS
it has the disadvantage of a more complex design and
therefore, a higher cost. In the upper-mentioned context, the following section
In automotive applications, the usage of the VLC technology addresses the main challenges for the future development of
is very straightforward, as all the involved devices (i.e. the VLC technology, in order to make it fully compatible to
vehicles and traffic infrastructures) have a lighting function, the requirements imposed for communication-based vehicle
which can be used to transmit the data. Furthermore, in this safety applications. Besides introducing the challenges and
case, the power of the light is relatively high, favoring pointing out their importance, this section presents a review of
relatively long communication distances. the existing solutions and perspectives to address each
3) Outdoor applications are less stringent to the lighting challenge.
requirements: A. Challenge 1 – Increasing the robustness to noise
Unlike in other wireless communication technologies, in
The strongest problem for outdoor VLC is triggered by the
VLC, the light wave carrier is perceivable by the human eye.
numerous sources of parasitic light, which perturb the
Thus, another advantage concerning the VLC usage in
vehicular communication applications comes from the fact communication. As demonstrated in [52] - [54], the vehicular
that this domain is less stringent concerning the lighting VLC channel is extremely noisy, being affected by various
requirements. In indoor applications, VLC have to be types of light, each of them with its specific characteristic.
maintained while providing high resolution diming (i.e. as low Therefore, we have incandescent lamps which produce a 100
Hz interfering signal and its harmonics that can go up to 2

kHz, the fluorescent lamps with a spectrum extending up to 20

kHz, and the fluorescent lamps geared by electronic ballasts
which generally produce band interfering signals between 20 -
40 kHz. Moreover, in this last case, lower amplitude
interferences can extend up to more than 1 MHz [54]. Hence,
all these light sources are at the same time important sources
of degradation in the optical wireless channel. From this
reason, the IEEE 802.15.7 standard [46] moves the
communication to an upper band, where the influence of the
artificial light sources is less significant. More precise, for the
outdoor VLC applications, the standard specifies the usage of
optical clocks of 200 kHz for OOK and of 400 kHz for VPPM.
In addition to the artificial light sources, the sunlight
represents the most powerful source of noise. Thus, the power
of the background light fluctuates in one day with Fig. 5. Sun radiation intensity and PIN photodiode sensitivity over the visible
approximately 20 dB [55]. In this case, the unmodulated light spectrum.
parasitic light incident on the photodetector introduces a very
strong DC component. Although the DC component can be 𝑛2
easily removed using capacitive filters, the generated current 𝑔(𝜓) = {𝑠𝑖𝑛2 𝐹𝑂𝑉 , 0 ≤ 𝜓 ≤ 𝐹𝑂𝑉 , (1)
also produces a shot noise component. In the presence of 0, 𝜓 > 𝐹𝑂𝑉
background light, the shot noise is the dominant noise source.
Moreover, if directly facing the receiver, the strong sunlight where n is the optical concentrator refractive index and 𝜓 is
can saturate the photoelement, making it blind and thus, the angle of incidence with respect to the receiver axis.
obstructing the communication. An accurate and highly Such a solution is experimentally confirmed in [62]. Here,
appreciated model of the optical wireless channel can be found by using a focal lens with a FOV of ± 10°, a communication
in [56]. Furthermore, the dynamic nature of the vehicular distance of up to 50 meters is achieved, whereas the bit error
environment and the diverse weather conditions make the rate (BER) is maintained lower than 10-7, even in outdoor
VLC channel very unpredictable. Besides sunlight, VLC can sunny conditions. Although this solution significantly
also be affected by snow or by heavy dust, which can obstruct enhances the SNR, it has as disadvantage the fact that it
the communication path, and therefore, influence the power of proportionally reduces the mobility. Similar approaches based
the received signal. Moreover, the water particles from fog or on narrow FOV and optical filters can also be found in [63],
from rain drops, affect the light passage through a [64]. Besides conventional lenses, Fresnel lenses have been
combination of absorption, reflection, and scattering [57], found to be very effective in the SNR enhancement [65],
[58], further increasing the channel unpredictability. whereas in [66], their usage has been confirmed
In addition to the above mentioned factors, automotive VLC experimentally to enhance communication performances
applications imply long distance communications (currently under fog conditions.
up to 80 - 100 meters [59], [60]), which are significantly Another solution to significantly enhance the SNR in
affected by distance dependent path loss. Consequently, the daytime conditions is suggested in [55]. Here, the authors use
SNR of such applications is quite low. For all these reasons, a VLC receiver containing two front-ends, each of them
increasing the robustness to noise is the strongest challenge equipped with a narrow band optical filter (40 nm) dedicated
for automotive VLC applications. to a specific spectrum component (color). The front-ends are
The existing literature on VLC admits the multitude of connected to a selective combining circuit, which selects the
perturbing elements and struggles to find efficient solutions to signal to use based on the highest SNR. This method
mitigate them. As previously mentioned, the sunlight is the considerably enhances the robustness to noise, enabling a
strongest source of noise for outdoor VLC systems and so, the reliable, low BER communication, even in daytime
most difficult to counteract. In general, the power of the conditions.
received noise is strictly dependent of the receiver FOV. A rather similar, but more complex, approach to address the
Therefore, the simplest and probably the most efficient problem of intense background light in vehicular applications
solution to diminish its effect is by narrowing the FOV [56], is based on the usage of spectrum sensor arrays [67]. This
[61]. In most cases, the VLC receivers are equipped with an method involves wavelength division followed by signal
optical collecting system that reduces the FOV, and in reconstruction based on individual weightings for each
consequence, the environmental light coming from the sides. specific spectrum component [68]. This approach enables a
The optical collecting system usually englobes an optical precise noise rejection allowing for an optimized signal
concentrator or lens, that focuses the incoming light on the reconstruction, and therefore it maximizes the SNR. Even if
photosensitive element. The concentrator provides an this proposal is more complex than the previously mentioned
additional gain whose value is given by eq. 1 [56]: examples, it is probably one of the most advanced solutions in
the field. Furthermore, although the authors did not emphasize

this aspect, their technique can also compensate for the color therefore low SNR levels, this challenge is closely related to
specific atmospheric attenuation and for the variable the upper-mentioned noise mitigation problem.
sensitivity of the PIN photodiodes. As illustrated in Fig. 5, the Financially supported by the U. S. Department of
sun radiation has different intensities over the light spectrum, Transportation National Highway Traffic Safety
whereas PIN photodiodes have different spectral sensitivities Administration, the Vehicle Safety Communications
throughout the spectrum. This fact makes the green and the Consortium (VSCC) consisting of BMW, Daimler Chrysler,
blue color signals to be more vulnerable to noise compared to Ford, GM, Nissan, Toyota, and VW has concluded that the
the red color signals. This aspect has been experimentally safety and the efficiency of the transportation system can be
observed in [62], where the receiver had a significant (approx. substantially increased by using wireless communications to
30%) communication distance difference between the red enable real-time data exchange between the vehicles and the
color of the traffic light and the green color. traffic infrastructures. Furthermore, VSCC has published a
One can observe that all the upper-mentioned SNR report [77], where it has defined the preliminary vehicular
enhancement solutions are more or less, based on optical communication requirements. Referring to the communication
filtering techniques. However, there are also other solutions to distance, the report specifies ranges of up to 1000 meters.
enhance the resilience to noise. A different approach to These specifications stood at the base of the development of
mitigate the effect of parasitic light, without affecting the the IEEE 802.11p standard for wireless access in vehicular
receiver mobility is proposed in [69]. In this case, the gain of environment (WAVE) [78], also known as dedicated short
the pre-amplification stage was calculated in order to prevent range communications (DSRC), which uses the 5.9 GHz
photodiode saturation and to enable communication even spectral region, and aims to enable communication distances
under direct sunlight exposure. The solution is efficient in of up to 1000 meters. However, in RF-based applications, long
terms of robustness to noise. However, because of the limited distance communications involve long distance interferences.
gain, it has the disadvantage of a relatively short Therefore, since each vehicle creates interferences on an area
communication distance (10-14 meters). On the other hand, in greater than the communication area, reliability concerns
[70], [71], the robustness to noise is improved by using spread might arise [37], [79] - [83]. Furthermore, the chances of
spectrum coding. More exact, they use a modulation technique having an accident with a vehicle 1000 meters away are “quite
based on Direct Sequence Spread Spectrum (DSSS) using low”, pointing out that shorter communication distances might
sequence inverse keying [72], which enables the system to be envisioned in order to increase the reliability. Table I
achieve a steady communication range of more than 40 m. summarizes the requirements imposed by the VSCC for the
Even though the resilience to noise is considerably enhanced, eight most important communication-based vehicle traffic
the raw data rate drops by 10 times (20 kb/s) due to the large applications [77]. In these cases, communication distances
bandwidth required by the modulation. The high potential of below 300 meters are required. However, if we are to look at
the digital filters has led to the development of fully digital Table II which embodies the average inter-vehicle distances in
signal processing VLC architectures. Such structural designs several particular traffic situations and conditions, one can see
enable superior filtering results and therefore enhance the that most of the traffic situations involve shorter distances. As
robustness to noise [73], [74]. Furthermore, such systems are it can be observed, in most environments, the involved
more flexible, enabling parameter adjustments and thus, the distances are shorter than 160 m.
usage in variable situations (e.g. mobile multi-channel
communications [73]). TABLE I - THE HIGH PRIORITY SAFETY APPLICATIONS [37].
From a software point of view, the communication Application Max. Rate Max. Message Type
resilience to noise can also be enhanced by lowering the data Range [/s] Latency Length
[m] [ms] [bits]
rate and by using punctured codes based on different Traffic Signal 250 10 100 528 I2V
puncturing ratios. Although this solution is quite efficient, it Violation Warning
has the disadvantage of significantly affecting the throughput
Curve Speed 200 1 1000 235 I2V
and therefore the data rate performances [75], [76]. Warning
Although this article approaches several challenges that Emergency 300 10 100 288 V2V
have the potential to enhance VLC vehicular communications, Electronic Brake
enhancing the robustness to noise is the crucial challenge. Light
Pre-Crash Sensing 50 - 20 435 V2V
Thus, progresses made in this area will determine the for Cooperative
approach for the rest of the challenges, whereas problems in Collision Mitigation
this area will negatively affect all the other aspects. Cooperative 150 10 100 419 V2V
Forward Collision
Warning
B. Challenge 2 - Increasing the communication range
Left Turn Assistant 300 10 100 904 I2V
The second main challenge to enable the usage of the VLC and
technology in automotive applications is increasing the 208 V2I
communication distance. As long-distance communications Lane Change 150 10 100 288 V2V
Warning
involve very low power signals at the receiver side, and

Stop Sign Movement 300 10 100 208 V2V safety norms. However, as VLC are direct LoS
Assistant and communications, this generally maximizes the power
416 I2V
efficiency.
From the emission point of view, one way to enhance the
TABLE II - INTER-VEHICLE DISTANCE IN DIFFERENT TRAFFIC CONDITIONS [37]. communication distance is by using optimized irradiation
Conditions Inter-vehicle distance [m] patterns and optimized LED placement within the LED light
source [88]. Moreover, a VLC emitter aimed for long distance
Traffic jam <35
applications should also have a narrow angle emission pattern.
Roadway in urban areas 35 – 49 A VLC emitter is considered a Lambertian emitter and
Urban highways rush hours 50 – 66 therefore, its radiant intensity distribution 𝑅0 (𝜑) can be
Urban highway 67 – 100 approximated according to eq. 2 [56].
Rural highway 101 – 159
𝑚+1 (2)
Rural areas >160 𝑅0 (𝜑) = ( ) 𝑐𝑜𝑠 𝑚 𝜑
2𝜋
where 𝜑 is the angle with respect to transmitter and the order
Within the upper mentioned context, the existing VLC
m is depending on the half power angle (HPA) of the emitter,
prototypes achieve low error communication distances that
in accordance with eq. 3 [56].
can go up to 100 meters in the case of the camera-based
systems [84] - [87], and 40 - 60 meters for the photodiode ln 2 (3)
based systems [60], [62], [70]. Therefore, in order to be fully 𝑚=−
ln(𝑐𝑜𝑠𝜙1⁄2 )
compatible with the automotive domain, the communication
distance needs to be further enhanced. A presentation of the where 𝜙1/2 is the transmitter semi angle;
technical characteristics for some of the most relevant In this case, the irradiation pattern of the VLC emitter RE
I2V/V2V prototypes is summarized in Table III. (W/cm2) is given by eq. 4 [56].
A specific VLC problem is the fact that unlike other 𝑅𝐸 = (𝑃𝑡 𝑅0 (𝜑))/𝑑 2 (4)
wireless communication technologies, in VLC, the light wave
where Pt is the emitter emission power, and d is the emitter
carrier is perceivable by the human eye. Therefore, the
receiver distance.
emission power is strictly dependent on the primary
When wide angle emission LEDs are used, the irradiation
application, which is lighting or signaling and also on the eye
pattern can be enhanced by using focal lenses, as in [63], [64].

TABLE III – SUMMARY OF THE EXISTING LITERATURE ON EXPERIMENTAL I2V/V2V DEMONSTRATIONS.

Modulation
Receiver Max.
Reference Receiver type Scenario Data rate and/or coding Merits, observations, or particularities
FOV distance
technique
10-20 Mb/s 2m Presented in different configurations, the
[84] - [86] I2V static OFDM/ QAM/
10 Mb/s 20 m prototype is probably one of the best existing
Manchester VLC systems for automotive applications.
Camera-based 22⁰+ 32 kb/s 70 m
[86] I2V mobile code However, it is also one of the most complex
2 kb/s 110 m
ones, and therefore the price makes it rather
[87] V2X static 55 Mb/s 1.5 m OFDM inaccessible for general usage.
One of the best photodiode-based VLC system
OOK with
Photodiode for automotive applications in terms of raw
[62] I2V static ≈10⁰ 15 kb/s 50 m Manchester or
based BER (<10-7) and communication distance.
Miller codding
Developed under budget constraints.
[59] Photodiode I2V 1.3⁰ 4.8 kb/s 90 m 2PPM Combines mobility of camera-based receivers
based receiver + 1 Mb/s QPSK with the benefits of photodiode-based
emitter tracking receivers. Uses a rather complex emitter
[60] I2V mobile 0.4⁰ 60 m
system based of 2 Mb/s 16 QAM tracking system.
low-cost camera
OOK with Communication distance is sacrificed to
Photodiode
[69] V2V static 20⁰+ 15 kb/s 15 m Manchester or increase the noise robustness. Wide FOV.
based
Miller codding
Photodiode not Highly robust to noise due to the DSSS
[70] - [72] I2V static 20 kb/s 50 m DSSS
based available modulation.
OOK with First experimental demonstration of a I2V and
Photodiode
[89] I2V2V ≈10⁰ 15 kb/s 23 m Manchester or V2V cooperative VLC system.
based
Miller codding
Emission 25 mm Clearly points out the significant influence of
angle 18⁰ and focal length the light emission angle and of the focal lens
25 mm focal and 25 mm 31 (narrow FOV).
Photodiode
[64] length lens at diameter 115 kb/s OOK
based
the receiver
Emission No focal
1
angle 120⁰ lens

The communication distance can be increased by using optical

lenses at the receiver side as well. This solution is very
efficient and even more popular. For this reason, this
technique is used in most of the VLC receivers intended for
long distance applications [61] - [63], [84]. The most obvious
demonstration showing the impact of optical lenses usage can
be found in [64]. In this case, by narrowing the beam
divergence from 120⁰ to 18⁰, and by using a 25 mm focal
length lens at the receiver, the communication distance is
increased from 1 to 31 meters.
As vehicular communications are highly dynamic
applications, the emitter-receiver distance is rapidly changing.
In such a case, a high gain can lead to photodiode saturation.
As previously mentioned, in order to prevent photodiode
saturation and to enhance the robustness to noise, in some
cases [69], the gain of the receiver is limited, which in turn
reduces the communication distance. A solution to overcome
this problem is by using an automatic gain control (AGC)
circuit, which automatically adjusts the amplification of the
data signal, enabling long distance and low BER
communication, even in daytime conditions [62]. For the same
purpose, in [63], the AGC circuit has been replaced by a
limiting amplifier, enabling variable communication distance.
Fig. 6. Relay assisted scenario: the traffic light sends a message that is
Photodiode-based VLC receivers generally use Silicon PIN received by the first car and retransmitted to the car behind [89].
photodiodes, operating in the photoconductive mode. This
setup offers high sensitivity and a linear response. In long efficient photosensitive elements, capable to detect even lower
distance applications avalanche photodiodes could be used signal powers, and therefore to enable longer communication
instead, as they are more suitable in low power applications. ranges.
However, in their case, the noise is also amplified making the
receiver suitable only for scenarios in which there are no C. Challenge 3 - Enhancing mobility
sources of parasitic light. In order to improve the SNR, the effect of the background
Another technique to increase the communication distance, noise is usually reduced by narrowing the receiver’s FOV.
especially for high priority event-driven messages is by using Although this solution is efficient in terms of SNR
multi-hop transmissions. Such structures are normally used to enhancement, as VLC require direct LoS between emitter and
extend the signal coverage for limited power transmissions, receiver, the narrow signal reception angle reduces the
but in the case of VLC applications they could also be used to mobility. Nevertheless, for the usage in vehicular
address network nodes that are not within the transmitter’s communications, VLC also has to fully comply with the
LoS. In such a case, the source of information transmits a mobility of the vehicles. The VLC connection between two
message which is received by the vehicles in its vicinity. The moving vehicles has been experimentally confirmed, for
vehicles receiving the message, recognize its high priority, and photodiode [92] and for camera based receiver. However, in
forward it to the vehicles behind, creating a relay-assisted most cases, the experimental evaluations of the VLC systems
network. Such a scenario is illustrated in Fig. 6, and has been are performed with the emitter and the receiver relatively
aligned. Nevertheless, in real situations, the traffic light, for
experimentally demonstrated in [89], using the VLC
example, is set at a height between 2.5 and 5 meters above the
technology.
road [42]. This is for sure a serious issue that again, will
In addition to the upper-mentioned aspects, in the practical
significantly influence the performances of the system,
implementation, special attention should be focused on the
limiting the service area.
optimal placement of the road side units (traffic lights, street
A first solution to address this problem was the integration
lights, traffic displays) [15], [90]. In this case, the height and
of a tracking mechanism based on a low cost camera with
the orientation of the emitter are of maximum importance, active control of the position, as in [59], [60]. The proposed
especially when long distances are envisioned [90], [91]. technical solution consists of a narrow FOV photodiode-based
Before finalizing the debate on this challenge, it must be
receiver, a low cost camera used for emitter detection, along
pointed out that all the advancements in the VLC domain have
with horizontal and vertical motors to position the photodiode
been sustained by the SSL industry, which is now able to
receiver. Thus, this solution combines the advantages of both
provide highly-efficient, highly-reliable, fast switching and
photodiode and camera based receivers, while maintaining a
relatively low price LEDs. The future evolution of the VLC fair tradeoff between mobility and costs. Although the solution
technology is still strongly dependent on the advancements in proved to be quite efficient in terms of mobility,
the SSL industry. Nevertheless, even if the trends in the
communication distance and robustness to noise, the high
development of new materials encourage us to be optimistic, a
complexity of the design affected the acceptability of this
special attention should be focused towards developing more

method. A rather similar solution to extend the signal the vehicle position and posture (i.e. horizontal and vertical
reception region is proposed in [93]. In this case, the camera deflection angles). Based on this model, the authors propose a
system is replaced by a light sensors array which is used to VLC based cooperative diversity scheme which should enable
determine the emitter – receiver received power. Based on this enhanced cooperation between vehicles and enhanced BER
assessment, the receiver sensor’s elevation angle is adjusted in results.
order to compensate for the alignment angle variation. To A different approach to compensate for the mobility of the
further enhance the received power signal an optical lens is vehicles is suggested in [96]. In this case, the authors consider
used as well. The suitability of the method is confirmed the usage of laser range finders as a backup for the VLC link
experimentally, and the results showed an increase of the in an autonomous driving application. Thus, the vehicles are
received signal power for a significantly enlarged using the VLC technology to continuously exchange position
communication area. data in order to enable an adaptive cruise control. However, in
Another solution would be to use more photodetectors situations where due to mobile conditions, the VLC
orientated for different reception angles. The signal processing technology is not able to support communications, the vehicle
unit should analyze the signals from each photodetector and is still able to maintain a safe distance from the vehicle in
decide which signal(s) can be used for the message front with the help of the laser range finders.
reconstruction. The problem can be solved in a similar manner In [97], the authors address the mobility problem caused by
by using more than one sensor on each side of the vehicle, as the mandatory LoS conditions by establishing a LoS link via a
in [94]. This way, at least one of the sensors will be properly relay vehicle which will be dispatched to reestablish the
aligned with the emitter and it will be able to receive the communication. The proposed algorithm identifies the relay
incoming data. Nevertheless, this solution should be firstly vehicle based on the relocation cost and the visibility analysis.
focused on an optimal configuration analysis for receivers and Concerning the VLC receivers, an optimized solution for
emitters, as these parameters will be the ones determining the the mobility problem might consider the development of
performances of the link. The placement parameters optimized receivers based on the estimated emitter-receiver
determining the optimum configuration are the mounting angle. Thus, for V2V communication, the transceivers are
height and the mounting angle of the road side unit (RSU) relatively aligned on the vertical axis and consequently, the
emitter and the mounting angles of the on-vehicle receiver. In receiver should have a wide FOV for the horizontal axis to
most cases, the RSU mounting height is determined by the enable data reception from the entire width of the road and a
enforcements in the field and not by the VLC requirements, narrow FOV for the vertical axis to diminish the effect of the
and consequently the mounting angles of the RSU and of the parasitic light. On the other hand, for I2V communication,
on-vehicle receiver remain the main adjustable placement when the emitter is placed several meters above the road (i.e.
parameters. On the receiver’s side, this evaluation will 2.5-5 m for traffic light), the FOV should be relatively narrow
probably lead to vehicles that will have VLC transceivers for the vertical axis and wide for the horizontal one. This
optimally arranged for inter-vehicle communication and VLC solution could significantly enhance the mobility, while
transceivers optimally arranged for RSU to vehicle maintaining the robustness to noise, with a rather simple
communication. design. The mandatory LoS limiting mobility problem could
We should also mention that determining the optimum also be mitigated using multi-hop communications, as in [89].
configuration for the RSU and for the on-vehicle receiver In this case, a node receiving a high-priority message will
involves a mobility versus communication distance distribute it in its vicinity.
compromise. According to [90], the optimum configuration is In indoor applications, the mobility is enhanced by using
the one with the longest available communication length, but angle diversity receivers (ADRs) which contain multiple
as showed in Section IV.B, eq. 2 – 4, an emitter optimized for narrow FOV [98], [99] or different FOV photodiodes [100],
long range communication has a narrow irradiation pattern, [101]. The photocurrent is processed using different signal
and thus its mobility is affected. The solution we consider combining techniques to optimize the receiver’s performances.
proper to address this problem without affecting the Despite the fact that these solutions have confirmed results
communication distance neither the mobility has the cost of only in indoor applications, their operating principle is fully
doubling the number of LEDs inside the RSU (i.e. traffic compatible to long range outdoor applications as well. A
light). Thus, the data transmission can be done alternatively, different solution to address this problem is proposed in [102].
using narrow angle emission LEDs for long range This concept envisions an adaptive FOV receiver able to
communication and wide angle emission LEDs for short range evaluate the environmental conditions with the help of several
wide angle transmissions, and thus enhanced mobility. sensors. Based on the collected data, the receiver should be
Although this solution has a slightly higher cost, its hardware able to optimally adjust its FOV. The FOV adjustment would
implementation remains simple, whereas it provides a fair be possible using relatively simple mechanics or based on a
solution for enhanced mobility, without affecting the transparent LCD display, placed in front of the photodiode,
communication range. In [95], an enhanced V2V and V2I and which changes its transparency depending on the level of
communication model is proposed, taking into consideration the background light.

Fig. 8. Inter-vehicle distance measurement using the time of flight.

Fig. 7. Multiple emitter identification and spatial isolation of noise sources performances of visible light positioning (VLP) have already
© [2014] IEEE, with permission from [86]. been confirmed for indoor applications. Here VLP offers 3D
positioning with centimeter accuracy [110]-[112].
It should be mentioned that the FOV limitation is not so Nevertheless, outdoor positioning is more challenging [113]
stringent for the camera-based VLC receivers. For such and thus, outdoor VLP solutions are one step behind.
receivers, the FOV is significantly larger, allowing the By using the headlights and the taillights, the distance
reception of data from the entire width of the road. This is between two moving vehicle can be determined (Fig. 8).
possible without affecting the robustness to noise because in Similar to GPS, which is based on the time difference of
this case, the lenses are capable to condense the light, arrival (TDOA) between two signals received from two
permitting spatial isolation of the parasitic light sources (Fig. different satellites with known positions, VLP uses a high rate
7). Therefore, experimental validation of moving on-vehicle repetitive on/off keying sequence to determine the phase
mounted VLC receivers has been confirmed [84]-[86]. difference of arrival, which can be used to determine the
Despite the fact that in their current configurations some of relative position [114], [115], as expressed in eq. 5 [116].
the existing VLC prototypes are not able to fully support
mobile conditions, analytical studies in the field have showed 𝑐 𝜑 (5)
𝐷= ∙
that with an optimized emitter and receiver(s) positioning, 2𝑓 2𝜋
fully mobile communications are possible [15], [90], [91],
where D is the distance, f is the modulation frequency, φ is the
[103]. Nevertheless, future work should be concerned in
phase shift and c is the light velocity. In this case, the distance
clearly determining the optimal receivers positioning and the
measurement resolution and thus, the positioning accuracy are
suitable designs in order to ensure full mobility.
depending on the frequency of the signal [115], and it is given
by eq. 6 [116].
D. Challenge 4 - Distance measurement and visible light
positioning
𝑐 𝛿𝜑𝑚𝑖𝑛 (6)
In traffic safety applications, the information concerning the 𝛿𝐷𝑚𝑖𝑛 = ∙
vehicle location and its surroundings are very important, either 2𝑓 2𝜋
in autonomous vehicles or in driving assisting systems. At this where 𝛿𝐷𝑚𝑖𝑛 is the distance measurement resolution and
time, the global positioning system (GPS) is the most common 𝛿𝜑𝑚𝑖𝑛 is the phase measurement resolution.
tool for location determination. Although it is very popular, Thus, considering a typical highway recommended inter-
GPS has relatively poor performances [104] due to link vehicle distance of 40-50 m, in order to achieve a distance
blockage and multipath, making it unfeasible in urban estimation error below 1 m, such a system would require
canyons, inside tunnels or underground. Besides GPS, modern frequencies of few dozens of MHz [115]. However, the LEDs
vehicles use various types of positioning sensors (i.e. radar or used in automotive applications are generally high power, and
lidar) to obtain information concerning the surroundings. Even so they are slow switching devices. So, the experimental
though the accuracy of such systems is quite high, they advances in this field are postponed for the moment.
generally come at an increased cost. Furthermore, the Considering this aspect, the authors of [116] proposed a
performances of 24 GHz or 79 GHz operating radar might be phase-shift rangefinder using a 1 MHz square signal achieving
affected by severe interferences as the number of equipped 10 cm resolution for distances up to 25 m and 30 cm
vehicles increases [105], whereas LIDAR’s scanning rate is resolution for distances up to 30 m. The method relies on the
quite slow (10 Hz) [106] and again, mutual interferences can concept called Distance Estimation via Asynchronous Phase
appear [107], [108]. Shift (DEVAPS) and was firstly presented for radio sensors
Within this context, in addition to lighting and [117]. Thus, instead of simply reflecting the received signal,
communication, VLC could also be used to provide cost the transceiver receives, processes and only then it makes the
effective, low complexity, and high accuracy positioning, retransmission, restoring this way the signal’s energy and
while using the vehicle lighting system [109]. The enhancing the SNR.

In other cases, VLP was considered achievable by using Much better results are obtained by the camera-based VLC
TDOA techniques [118]. In such a case [119], the receiver receivers. In their case, data rates that can go up to 20 Mb/s
should use more than one photosensitive element for the light [84] - [86] or even 55 Mb/s [87] were experimentally
detection. Although suitable mostly for indoor application, accomplished. However, even in these cases, the data rates are
VLP could also be achieved using techniques based on the significantly decreasing when the distance increases (see
received signal strength (RSS) [120]. Nevertheless, the Table III). The higher data rates achieved by the camera based
accuracy in this case can be maintained only for several VLC receiver are achieved with the help of MIMO techniques
meters. More complex ranging systems involve the usage of and are strictly determined by the performances of the camera
VLC in combination with other techniques. In [121], VLP is (i.e. up to 1000 fps). In their case, each LED of the emitter can
used along with a laser radar to increase the accuracy, whereas be considered as a parallel channel communicating with a
in [122], the distance is determined using a camera system and pixel region on the camera. To further increase the data rate,
image processing techniques. In this case, VLC is used to complex modulation and coding techniques are used [51],
provide additional data concerning the vehicle’s size, data [87].
which is used to ensure the proper image processing. Concerning the required data rate in vehicular
It should be mentioned here that as the VLC technology in communication applications, this is rather difficult to clearly
general, and the automotive VLC applications in particular, define. The IEEE 802.11p standard specifies data rates from 3
are still in the early stage, long range photodiode-based VLP to 27 Mb/s. However, in this case, due to the mutual
applications are currently at simulation level. However, as the interferences, the message generation rate is up to 10
technology evolves, fully demonstrable VLP systems are messages per second. On the other hand, in VLC, nearby links
expected. On the other hand, in addition to light intensity, have no influence on each other due to the high spatial reuse
image sensors are also able to detect the angle of arrival and therefore, the message generation rate can be significantly
(AOA), and therefore, the ranging/positioning performances increased. Basically, in VLC networks, the vehicles could
continuously communicate to each other without affecting the
of high speed image sensor are one step ahead. Thus, the
communication channel or the packet delivery ratio.
experimental demonstration of VLC and VLP, using high
Very encouraging results concerning long-distance, high
speed image sensor has been achieved, with an estimation
data-rate V2V VLC were found in [127]. The simulation
error below 0.3 m for distances up to 60 m [123].
results based on the experimental power measurements of a
Furthermore, as the system has been further improved,
headlamp beam, and considering a photodiode-based receiver,
accurate distance measurements have been accomplished even
indicated that a data rate of 50 Mb/s can be achieved for a
in mobile conditions, with the vehicle rolling at 30 km/h
distance of up to 70 m, with a BER of 10-4. Therefore, as the
[106], [124]. The system measures the range by using phase
technology gets mature, higher data rates are expected even
only correlation. For mobile conditions, the system uses an
for long distance applications.
algorithm to reduce the influence of vibrations caused by the
As already mentioned, the lower data rates accomplished so
road surface irregularity. It should be also mentioned that even
far in long range vehicular applications are on one hand due to
though the accuracy of this system is lower than the one of
the lower SNR levels, and on the other hand, due to the fact
LIDAR systems, their measurement time is only of 2 ms,
that the LEDs used in these applications are generally high
compared to LIDAR where the scanning rate is of 10 Hz.
power, and thus, their switching time is slower. To address
Furthermore, these results can be further enhanced by
this second issue, the authors of [23] debate the usage of laser
adopting high speed stereo vision processing, with two high
diodes in VLC application, whereas in [128], a 12 m 2.5 Gb/s
speed image sensors. In this case, with the help of
VLC link using a laser diode source is experimentally
triangulation, centimeter accuracy can be obtained [106],
demonstrated. Nevertheless, their integration is currently
[124].
postponed due to the eye safety norms.
To improve the data rate of long-distance VLC applications,
E. Challenge 5 - Increasing data rate
future research should investigate the behavior of the indoor
In vehicle VLC applications, the robustness to noise, the modulation techniques in the outdoor scenario. However, it is
communication distance, the packet delivery ratio, the low unlikely to achieve comparable data rates. Again, the chances
latencies are all more important than the data rate. However, it to accomplish this challenge are strongly related to the noise
is highly desirable to increase the data rate when this mitigation problem.
enhancement does not affect the upper mentioned features. In
indoor short range applications, VLC proved to be able of F. Challenge 6 –Developing parallel visible light
achieving very high data rates that can go up to more few tens communications
of Gb/s [2], [3]. The high data rates are obtained using more Developing MIMO VLC applications could offer the
complex modulations like OFDM [125] or multi-level codes opportunity to increase the data rate by transmitting the info
[126]. In outdoor applications, the data rates are significantly on parallel channels. Nevertheless, unlike in indoor
lower. In most cases, the existing photodiode-based VLC applications, MIMO techniques could have an even more
systems aimed for long-distance applications achieve data important role. Considering the fact that in communication-
rates that are lower than 100 kb/s [59], [62], [69], [70]. In the based vehicle safety applications the communication
best cases, such systems achieve data rates of 1-2 Mb/s [60].

robustness, the packet delivery ratio and the reduced latencies enhanced with the development of an hierarchical overlay
are considered more important than the data rate, MIMO coding which enables long distance, low BER transmissions of
techniques could be used to divide the transmitted data the high priority data [51], [137]. This transmission is made in
according to its priority (i.e. high priority data and low priority parallel with less important data, for which the communication
data). Accordingly, with the help of MIMO techniques, the distance is shorter and the BER higher, increasing the
high priority data can be transmitted in parallel to the low reliability of the high priority data. In this case, the usage of
priority data, but with different characteristics (i.e. the MIMO techniques was not motivated by the data rate
modulation, data rate, power) in order to ensure the proper increase but by the reliability it brings to the high priority data.
reception. In this case, the usage of the MIMO techniques will
not be motivated by the data rate increase but it will be G. Challenge 7 – Towards heterogeneous DSRC & VLC
motivated by the reliability it brings to the envisioned networks
application. The usage of VLC does not exclude RF communication, as
In MIMO VLC, multiple optical sources are treated as the two technologies are fully compatible and do not perturb
different transmitters, mainly with the purpose of increasing each other whatsoever. Rather neglected in vehicular
the data rate. However, unlike in RF systems, VLC MIMO applications, heterogeneous networks are a hot research topic
links are more complex to design, because in VLC the paths in indoor applications [138] - [140]. Here, the mobile devices
between emitter and receiver are very similar. In indoor VLC (e.g. tablets, smartphones, laptops or computers) do not have a
applications, the development of MIMO systems is quite lighting function, in order to use it for data uploading. From
advanced, as its potential to increase data rate was considered this reason, high data rate applications are envisioned only
even from the early stage (2004) [129], [130]. Soon after, with the help of a second wireless communication technology.
experimental demonstration of MIMO VLC systems became So, multi Gb/s VLC links are used for data receiving and RF
available [131]. At this moment, such systems use four to based links are used for the data upload, with the mention that
sixteen or even more parallel channels, achieving multi-Gb/s in RF-sensitive environments, infrared can be used instead.
data rates [132]. Currently, the research in this domain is Therefore, such hybrid networks are considered to increase
focused on the investigation of different MIMO data rate, throughput, and fairness [8], [140]. Furthermore, the
modulation/transmission schemes that can further enhance the heterogeneous networks enhance the mobility and increase the
performances of such systems [133]-[135]. reliability of the connection. These two particular aspects are
In the case of photodiode-based receivers, the MIMO envisioned from heterogeneous networks in vehicular
receiver consists of independent photodiodes, each dedicated communications and from this reason such networks are
to a specific data transmitting light source. In this case, the essential in future vehicular networks.
distance separating the photodiodes is very important as it In vehicular communications, the usage of the two solutions
significantly influences the communication BER performance should be considered with the primary purpose of enhancing
[129]. Although the MIMO scenario has advantages, it is the reliability. Although VLC has numerous advantages for
based on narrow angle VLC links (i.e. narrow angle emission V2I and V2V use, the fact that its application is limited to LoS
and narrow FOV receivers) and so, it requires a careful can act as a disadvantage. Therefore, its combination with 5.9
alignment between emitter and receiver, whereas a small GHz DSRC may significantly improve link quality – a crucial
misalignment significantly affects the performances. issue in safety applications. As analytically demonstrated in
Consequently, MIMO VLC usage in photodiode-based [37], the aforementioned technologies are complementary
vehicular applications is rather unfeasible, at least for the solutions. DSRC is a mature technology able to provide long-
moment. In order to address this problem, the authors of [47] distance communication. On the other hand, VLC is not able
and [62], evaluate the usage of a bandwidth efficient line to provide comparable communication distances, but it is
coding technique (Miller code) that should reduce the considered to have a great potential in high traffic densities,
interferences between adjacent communication channels. whereas its large geographical distribution also represents a
Their results confirm analytically and experimentally the great benefit.
compatibility of the Miller code with vehicular VLC Further in to the future, platooning applications are
applications and also the future potential in MIMO expected to be part of the autonomous driving. Vehicles in a
applications, but do not provide a demonstration of a MIMO platoon are expected to adjust their speed and maintain a safe
VLC system using the proposed code. distance to the vehicles in front in order to follow the platoon
On the other hand, as mentioned above, the camera based leader. In order to enhance the efficiency, the inter-vehicle
systems are not alignment sensitive, facilitating their usage in distances should be as low as possible (3 – 5 m). Although
mobile MIMO VLC applications. A basic experimental platooning involves a high amount of high priority data,
demonstration of such a system was initially found in [136]. analytical studies have showed that VLC is able to support this
Here, a 64 LEDs emitter was modulated at a rate of 250 Hz, type of applications [96], [141], [142]. In VLC, the messages
whereas the communication distance was up to 30 m. Over the for the vehicles that are not in the LoS are transmitted in a
years, subsequent developments of this method enabled multi-hop manner. In most cases, this is not a problem,
communication distances of up to 70 meters and data rates of because in general, potentially dangerous situations are
up to 64 kb/s [137]. Furthermore, the systems have been prevented based on the data exchange between the closest

neighbors, whereas for the other vehicles, reasonable delays

can be accepted. However, when we are talking about high
priority control or event driven messages, their distribution
should be made within stricter limits. In such a case, multi-hop
transmissions may lead to an increased end-to-end delay,
especially when the VLC data rate is low. Addressing such
scenarios with the help of DSRC seems a reasonable solution.
The usage of both technologies in such a scenario has showed
an enhancement of the communication reliability [143] and an
imprudent of the end-to-end delay [144]. The usage of 5.9
GHz DSRC – VLC hybrid networks for platooning
Fig. 9. DSRC and VLC vehicular heterogeneous network.
applications was also analyzed in [145]. In this case, VLC was
found to substantially improve scalability, especially when
hundreds of communicating cars are involved. Moreover, existing and confirmed solutions from indoor VLC.
VLC was considered suitable as a backup technology and also Furthermore, vehicular VLC application could also inspire
to offload the DSRC network. The authors of [146] consider from the solutions found in RF communications in general or
DSRC an indispensable part of vehicle networks but admit the from the ones found in DSRC in particular, as the latest one is
benefits of VLC and consider this technology suitable for specially designed for the automotive domain. In such a case,
network offloading. Technologies combination for enhanced technical aspects that have been conquered after years of
performances has also been considered suitable in [147] with research can be adapted and therefore the gap can be
the mention that in this case DSRC is used together with IR. recovered much faster. Moreover, taking benefit from
A different approach for VLC – DSRC heterogeneous emerging trends and technologies could speed up the
networks is considered in [148]. Here, the transmitted technology development. Referring to the 5.9 GHz DSRC, we
information is divided between the VLC channel and the RF should mention that this is a mature technology, with
channel. Thus, RF is used to transmit omnidirectional data, confirmed performances and which is a step away from
intended to all vehicles, whereas VLC is used to transmit deployment.
directional information, for vehicles from a specific area or on This survey addressed the issues related to the practical
a single lane. Again, the results showed that the two aspects regarding the implementation of the VLC systems
technologies together provide enhanced results, in terms of aimed for automotive applications. Within it, the research
coverage and receivable information. Such an approach seems efforts in several crucial directions have been analyzed and
very convincing as it is obvious that not all the transmitted reviewed. However, it must be clearly outlined that at least for
information is interesting for all the vehicles, and in such a the next years, the most important challenge in the field is
case, VLC is suited due to its geographical data distribution, increasing the robustness to noise. Solving this problem will
whereas in the opposite situation DSRC is suitable to achieve lead to tangible results for other challenges as well. Thus,
highly reliable long distance communication. It must be noise robust VLC systems will allow long distance and high
pointed out here, that in DSRC – VLC hybrid networks both data rate communications, whereas the mobility can be
technologies gain benefits. For DSRC, the main benefit is that enhanced with the extension of the FOV or with the help of
VLC takes some of the load on it, increasing its reliability and additional VLC receivers. Regarding the development of
enhancing its performances (latencies and packet delivery hybrid networks, it is now rather obvious that in research, the
ratio). An illustration of such a hybrid vehicle network is software component is capable to rapidly adapt itself on the
shown in Fig. 9. hardware requirements and therefore, it can be considered that
We conclude this section by pointing out that according to once the two solutions (VLC and DSRC) will have enhanced
the ISO 26262, safety related systems integrated in series performances and unquestionable reliability, their “software
passenger vehicles should rely on the data received from more hybridization” in terms of load balancing and handover will be
than one sensor. Thus, applying the same principle in available. Moreover, one can expect that all the required
communication-based vehicle safety applications, the two protocols might be available even before the hardware aspects
technologies, 5.9 GHz DSRC and VLC might be used are fully finalized. After debating the current challenges and
together, with the potential to further improve the the existing approaches, the following sub-sections aim to
performances. propose several future research directions that are not
currently applied in automotive VLC applications, but which
V. DISCUSSIONS ON THE ROAD AHEAD might provide superior benefits once they will be addressed.
As standardization provides the grounds on which a
Despite being an active research area, the outdoor VLC technology is evolving, existing standardization activities are
applications, in general, and vehicular VLC applications, in also reviewed.
particular, attracted a smaller research effort compared to
indoor VLC applications, and therefore, they are one step A. Environment-adaptive automotive VLC systems
behind. However, this fact can be an advantage for the Forasmuch the automotive (outdoor) VLC channel is highly
automotive VLC domain, as it could use some of the already

potential to offer an adaptive, highly resilient and exceptional

efficient behavior to the communication. In VLC, this concept
is newly introduced and it proposes the usage of several
external sensors that perceive the environment conditions (e.g.
power of sun and sun’s relative position, weather conditions,
relative position of the other vehicles, etc.) which could
influence the communication process. Based on the evaluation
of the received information, the VLC devices can adapt the
communication parameters (e.g. type of modulation, channel
coding, data rate, etc.) in order to maximize the performances
within the given setup. Furthermore, the VLC receiver can
adapt its internal parameters (e.g. FOV, filters, gain, signal
processing plan, etc.) in order to optimally receive the data.
Thus, the implementation of context-aware adaptive VLC
receivers has the potential to improve the overall
performances and maximize the reliability, no matter the
environment conditions. The major role of adaptive VLC
systems is also pointed out in [152]. Here, the authors propose
Fig. 10. Block diagram of an auto-adaptive visible light communications a realistic channel model for VLC, assuming a mobile user
system. The VLC receiver, englobes adaptive FOV, automatic gain control,
adaptive filters, adaptive triggering, adaptive decoding. These functions and demonstrate the benefits of link adaptation. In addition to
enable it to have an optimal configuration adapted to the specific atmospheric VLC channel determination with the help of sensors, or based
conditions [102]. on a model, the channel conditions could be estimated by
dynamic and extremely noisy, whereas the uncontrolled using neural networks [153].
external conditions make it very unpredictable, the initial B. Towards reconfigurable software-defined automotive VLC
approach in VLC prototypes design was to develop a VLC sensors for improved performances and enhanced flexibility
system able to provide communication in the worst case
Another major limitation of existing automotive VLC
scenario. Nevertheless, such an approach is sure to limit the systems is represented by their rigidity. Thus, as already
system’s performances in favorable conditions. Thus, the mentioned, a VLC system designed to be very robust to noise
receiver described in [69] was designed to support has a relatively short communication distance, or a lower data
communication in direct sun exposure. However, the rate, even in the absence of any noise source. Moreover, the
experimental verification has revealed that the limited gain of existing VLC sensors, mainly based on analogic signal
the pre-amplification stage and a static value of the gain in the treatment are difficult to update or to be further improved once
amplification stage lead to a significant decline in their design is completed. In their case, a functional or a
communication distances, no matter the power of the parasitic standard update is possible only by designing and
light. Next, in [62], the receiver’s FOV is narrowed to ± 10°, implementing a new hardware prototype.
limiting the amount of parasitic light incident on the A suitable solution to address this issue would be the
photosensitive element, whereas an AGC unit manages the development of software-defined VLC sensors. Such a VLC
optimal gain settings. These solutions were able to reduce the receiver entails an analog front end unit for light sensing and a
sunlight influence, enabling a much longer communication digital signal processing (DSP) unit for signal treatment. In
distance. Although the system had remarkable results, the most of the current outdoor VLC receivers, the output of the
narrow FOV negatively affected the mobility limiting its transimpedance circuit is processed using analog techniques.
applicability. In [71], the robustness to noise is provided with However, future VLC prototypes could be improved by using
the help of the DSSS modulation, affecting the data rate. Thus, DSP techniques [73], [74]. The central component of a DSP
system is the digital filter, which can achieve significantly
the response to mitigate the parasitic sunlight affected in turn
better results compared to the analogical ones. As the outdoor
the communication distance, the mobility, and the data rate.
VLC channel is strongly affected by noise, the digital filters
So, it can be observed that in order to counteract a particular
usage could represent an important advantage which could
situation, such as the one in which the sun is directly facing improve the next generation of outdoor VLC receivers.
the VLC receiver, the communication’s performances are Furthermore, DSP techniques also benefit from an enhanced
deteriorated for all possible situations. Similar, a flexibility, enabling the receiver to better cope to the highly
disproportional response to diminish the effects of other dynamic and unpredictable environment. Thus, such VLC
negative conditions further affects the overall system systems can be easily reconfigured for different situations. For
performances. example, changing from a cut-off frequency to another one
A concept solution to address this issue and also to can be done by using a different set of coefficients, whereas in
simultaneously address several of the upper-mentioned noisy environments, the filtering quality can be improved by
challenges is proposed in [102] and illustrated in Fig. 10. changing the filters’ order. Moreover, in noisy environments, a
Inspired by organic examples, the development of self-aware DSP sensor can use a more complex configuration in order to
[149], [150] or of context-aware [151] VLC systems has the properly extract the data. So, DSP can adapt to variate

conditions only by changing some coefficients or by display applications compared to LED technology (such as
modifying the signal processing plan, without any additional lower fabrication costs, large area devices, larger visibility
hardware optimizations. Furthermore, the enhanced flexibility angle), it is lagging significantly behind in communication
of DSP-based VLC sensors could be given by the fact that applications (data transfer rate is almost two order of
such a receiver will be able to reshape its computing plan, magnitude smaller in OLED-VLC compared to LED-VLC
introducing the concept of reconfigurable computing [154], [158]). An intensive research effort from both academia and
[155] in VLC automotive systems. Thus, according to the industry in order to transition OLED visible light
SNR, the receiver could adopt a simplified signal processing communications (VLC) from potential to applications is
plan in high SNR conditions, or a highly complex plan in low required. The current state-of-the-art research in OLED – VLC
SNR conditions. Such a VLC receiver would be able to is mainly focused on indoor communications, and it is difficult
maintain the communication even in unfriendly environments to foresee short-term solutions to compete with LED – VLC
enabling a decent BER, while optimally balancing with respect to data transfer rate due to the low charge
computation resource utilization. This approach is envisioned mobility characterizing organic semiconductor compared to
to be used on vehicle embedded DSP systems using multi-core the inorganic ones.
data processing units (Fig. 11). Thus, the basic operational Within this context, OLED-VLC applications could be
plan can be processed by a VLC dedicated core (permanent), orientated to other areas, such as road infrastructure-to-vehicle
whereas when more computational power is required, an communications, where OLED advantages can play a more
additional core can be (re)allocated (resource sharing). prominent role while the transfer data rate is significantly
limited in LED-VLC, as well, due to the external noise
(especially, natural and artificial light). In addition, the mixed
organic-inorganic structure of the proposed OLED may also
provide an improvement in the transfer data rate
characteristics. This approach is encouraged by the recent
developments in automotive industry, which has introduced
several OLED-based illumination systems for their new luxury
car models. A thin OLED lighting strip, between 0.8 mm - 1.5
mm, could open a number of exciting new options for
aerodynamically optimized cars. Audi working with Philips
demonstrated that the uniformity of light output from an
OLED panel is an advantageous because will reduce the need
for reflectors which are necessary with other lighting
techniques. Ultimately automotive OLED lights printed on
transparent plastics could also be fitted to the windows of cars
too. BMW can already work with flat OLED panels but needs
to develop the fully conformable module that can be used
more widely across vehicle designs. The second challenge is
Fig. 11. Multi-core processing unit for automotive applications. that OLEDs are currently not bright enough to pass the
Within this context, the research efforts in the area of requirements used in safety-critical vehicle lighting. Thus the
reconfigurable software-defined automotive VLC sensors industry is planning to gradually introduce OLEDs by
should address two main challenges: (1) enhancing the combining them with LEDs and its forthcoming laser
photodiode-based analog front end circuit design and (2) headlights. This will give a composite design solution with the
developing and enhancing the digital signal processing various technologies compensating for each other's
algorithms. shortcomings.
Future work should contribute to new developments in this
field of technology. One of the main interests should be
C. Development and integration of OLED Visible Light research on the border line between organic and inorganic
Communication Systems for Automotive Applications semiconductors towards new materials, devices and
During last decade, organic semiconductors emerged as an technologies based on new functional organic and organic-
alternative to inorganic semiconductors in various electronics inorganic hybrid materials, such as new emissive materials for
applications such as light sources, displays, solar cells, the visible and near infrared spectral range, new electron
photodetectors and integrated circuits, and contributed to the conducting/hole blocking materials or hole conducting
development of novel applications such as smart windows and materials, materials for controlling interface properties like
electronic papers. This progress is especially driven by the injection barriers for holes and electrons, materials for
mass production of OLED displays that has already reached diffusion barriers, adhesion, and for optimization of other
approximately $ 15 billion market value in 2016, with an parameters with technological importance. The research
expectation for more than $ 30 billion in 2020 [156]. As should also be directed towards new flexible integrated
opposed to area of OLED displays, which reached a certain organic circuits, devices for display technology, and for
degree of maturity, the use of OLED for both lighting and data optical information transfer and processing. These areas
transmissions is still in its infancy [157]. While OLED underpin many aspects of telecommunications, automotive
technology has provided several advantages for lighting and and aerospace electronics, computer technology, and many

other kinds of consumer electronics. The resulting technology and rather different implementation approaches, future
could offer more flexibility and is expected to be more cost standardization efforts should aim to provide a VLC standard
effective than established semiconductor technologies. The strictly focusing on vehicle applications [86], [166].
combination of organic and inorganic semiconductor Therefore, the IEEE 802.15.7r1 standard might be a
technology is, however, a challenge for future developments transitional step towards this goal. In a similar way, specific
since many problems of interface engineering, layer formation VLC standards are being requested for VLC camera
with controlled morphology, and structuring have to be communications [29] and for VLC positioning [169].
solved. Within this context, we conclude this standardization
D. VLC Standardization efforts related section by pointing out that at this moment one cannot
Although the upper-mentioned challenges have referred to talk about a global widely accepted point of view on VLC
physical enhances of the VLC systems, it must be pointed out standardization in general and vehicular VLC standardization
that the domain can have plenty of benefits from in particular. Actually, there is the VLCA Japanese standard
standardization. A competitive and widely accepted vehicular [159], and then the European view [167], whereas different
VLC specific standard can reduce the gap between the groups working on specific VLC applications or use cases are
industry and academia, stimulate the development, and speed also demanding specific standardization.
up the deployment towards the market. Thus, the
standardization of the VLC has begun right in the early stage, VI. CONCLUSIONS
with the first VLC standards (CP-1221 and CP-1222) being As communication-based vehicle safety applications are
published in 2007 by the Japan Electronics and Information emerging as one of the best future solutions to enhance the
Technology Industries Association (JEITA) and the VLC safety of road transportation, the VLC technology struggles to
Consortium (VLCC). The VLCC members also worked on the gain its share in this new area. Vehicular VLC has an
CP-1223, a simplified and improved version of CP-1222, increased potential and numerous advantages, but the existing
published in 2013, whereas a new standard proposal referred VLC prototypes are not capable to fully comply with the
to as IEC 62943 was approved in 2014, and it is currently requirements imposed by road safety applications.
being developed by the Visible Light Communications This article has made a survey of the VLC systems
Association (VLCA), the former VLCC [159]. proposed for automotive applications. The article was
In parallel to the Japanese VLC standardization efforts, the orientated on the current challenges, but it is also providing a
IEEE 802.15 Task Group 7 began its activity in January 2009. review of the up-to-date solutions aimed at overtaking each of
After publishing several draft standards in November 2010 the challenges. Increasing the communication range,
and in early 2011, the IEEE 802.15.7 standard for Short- enhancing the mobility and improving the data rate are some
Range Wireless Optical Communication Using Visible Light of the main trials in the field. However, the accomplishment of
has been launched in September 2011 [46]. The IEEE these tasks is strictly dependent on solving the main challenge:
802.15.7 standard addresses the issues related to the PHY and the ability of rejecting the parasitic light. As the outdoor VLC
MAC layers, providing the specifications for low data rate channel is subject to multiple sources of parasitic light, the
(11.67-266.6 kb/s) outdoor and for medium data rate (2-96 ability to cope with them is crucial for the future development
Mb/s) indoor applications [160]-[162]. Nevertheless, soon of the technology. In addition to the above-mentioned
after the publication of the standard, it was found that the data challenges, experimentally confirming the VLC potential use
rates specified for indoor scenarios were too low compared to in distance measuring and in high accuracy positioning can
the performances of the existing prototypes [163]-[165]. give VLC an important advantage towards the usage in
Referring to inter-vehicle communications and ITS automotive applications.
applications, the IEEE 802.15.7 standard mentions them as As the overall vehicular communication performances
possible use cases but without providing any of the specific could be improved by using both DSRC and VLC
V2V or I2V regulation. Within this context, as showed in technologies, this article also addressed the aspects related to
[166], the IEEE 802.15.7 standard is far from being widely the development of VLC – 5.9 GHz DSRC heterogeneous
accepted, as most of the VLC developers design their systems networks. This mixed development can significantly increase
without considering the standard’s specifications. the reliability of vehicular networks. Furthermore, the ISO
Consequently, after only few years after its release, the IEEE 26262 standard referring to vehicle safety systems states that
802.15.7 standard is being revised by task group TG7r1 [167], such a system cannot depend on the data received from only
[168]. Regarding the ITS applications, the revised version one sensor. Applying this philosophy in vehicular
embraces vehicular communications as a fundamental VLC communications could definitely enhance the overall
use case, mentioning V2I and V2V applications. Thus, after reliability.
analyzing the specific requirements of vehicular We conclude this article by emphasizing the fact that the
communications, the standard intends to improve mobility, performances of VLC sensors aimed automotive for
robustness, data rates and to enhance the networking protocols applications could be further improved by investigating and
[167]. Nevertheless, as the indoor and the outdoor VLC integrating innovative research trends as – software defined
applications have different challenges, dissimilar expectancies, architectures, reconfigurable computing, resource sharing,
self-aware and context-aware adaptive architectures, or

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[162] A. C. Boucouvalas, P. Chatzimisios, Z. Ghassemlooy, M. Uysal and K. Alin-Mihai Căilean received a B.S. degree in
Yiannopoulos, "Standards for indoor Optical Wireless Applied Electronics Engineering (2009) and a
Communications," in IEEE Commun. Mag., vol. 53, no. 3, pp. 24-31, M.S. in Computer and Communication Networks
Mar. 2015. (2011) from the Stefan cel Mare University of
[163] J. Vučić, C. Kottke, K. Habel and K. D. Langer, "803 Mbit/s visible Suceava (Romania). He received his PhD (2014)
light WDM link based on DMT modulation of a single RGB LED after a joint program between the University of
luminary," in Proc. Optical Fiber Commun. Conf. and Exposition and Versailles St. Quentin en Yvelines (France) and
the National Fiber Optic Engineers Conf., Los Angeles, CA, 2011, pp. the University of Suceava (Romania). Currently,
1-3. he is researcher at University of Suceava
[164] T. Kubo, T. Umeki, T. Kanai, H. Suzuki, H. Hadama and M. Asobe, "A (Romania). His main research area is related to
high-speed visible light indoor network employing a short pulse visible light communications, wireless sensors and vehicle safety applications.
modulation and a QPM-LN module," in Proc. Optical Fiber Commun. He has more than six years of experience in working on VLC technology and
Conf. and Exposition and the National Fiber Optic Engineers Conf., Los he has authored important articles and conference papers in this domain.
Angeles, CA, 2011, pp. 1-3.
[165] A. M. Khalid, G. Cossu, R. Corsini, P. Choudhury and E. Ciaramella,
"1-Gb/s Transmission Over a Phosphorescent White LED by Using
Rate-Adaptive Discrete Multitone Modulation," in IEEE Photon. J., vol. Mihai Dimian received his B.S. in Mathematics
4, no. 5, pp. 1465-1473, Oct. 2012. (1997) and in Physics (2001), as well as a M.S. in
[166] A.-M. Cailean, and M. Dimian, "Impact of IEEE 802.15.7 Standard on Dynamical Systems from the University of Iassy
Visible Light Communications usage in Automotive Applications," in (Romania). He graduated with a Ph.D. in
IEEE Commun. Mag., vol. 55, no. 4, pp. 169-175, Apr. 2017. Electrical Engineering (2005) from the
[167] V. Jungnickel et al., "A European view on the next generation optical University of Maryland, College Park (USA) and
wireless communication standard," in Proc. IEEE Conf. Standards for performed post-doctoral research at Max Planck
Commun. and Net. (CSCN), Tokyo, 2015, pp. 106-111. Institute, Leipzig (Germany). He is Associate
[168] M. Uysal, F. Miramirkhani, O. Narmanlioglu, T. Baykas and E. Professor at Howard University, Washington DC
Panayirci, "IEEE 802.15.7r1 Reference Channel Models for Visible (SUA) and Professor at the University of
Light Communications," in IEEE Commun. Mag., vol. 55, no. 1, pp. Suceava (Romania). His research interests are focused on fluctuations and
212-217, Jan. 2017. noise in nanoelectronics and optoelectronics, stochastic aspects of hysteresis,
multiscale analysis and modeling.

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Current Challenges For Visible Light Communications Usage in Vehicle Applications: A Survey

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Current Challenges For Visible Light Communications Usage in Vehicle Applications: A Survey

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This article has been accepted for publication in a future issue of this journal, but has not been

Current Challenges for Visible Light

Fig. 1. Basic architecture of a visible light communications system: a) emitter; b) receiver.

of mortality [34], [35]. On these grounds, the scientific

kHz, the fluorescent lamps with a spectrum extending up to 20

TABLE III – SUMMARY OF THE EXISTING LITERATURE ON EXPERIMENTAL I2V/V2V DEMONSTRATIONS.

The communication distance can be increased by using optical

Fig. 8. Inter-vehicle distance measurement using the time of flight.

neighbors, whereas for the other vehicles, reasonable delays

potential to offer an adaptive, highly resilient and exceptional

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