## 1 Introduction  
As the mobility and vehicular transportation has developed rapidly, the vehicle-to-everything (V2X) communication has been widely developed. The V2X communication covers majorly four fields including infotainment, traffic efficiency, traffic safety, and cooperative driving [1], which requires high data rate, low latency, high reliability, and a large amount of connection devices [2]. Currently, the V2X access technologies are mainly concentrated on the radio frequency technologies including the cellular network [3] and Wi-Fi [4].  
The application of V2X enables the information exchange between vehicles, the environment equipment, and pedestrians [5]. Hence, vehicles can receive the real-time information on the traffic status such as speed limitation, traffic flows, personnel flow on the road, etc. Furthermore, V2X may provide better quality of modern traffic services. Many issues including specific safety warnings, temporary route guidance and navigation, smart transportation management, and remote diagnostics of vehicles will be covered [6].  
Currently, the most common safety sensors in vehicles are camera and radars [7]. Typically, for the transmission of real-time high-resolution raw images at 15 frames per second, a throughput higher than 700 Mbit/s is required, as suggested for the traffic safety services [8]. In addition, the radar data detecting the target and velocity costs up to 100 Mbit/s [8]. Therefore, up to 800 Mbit/s of data rate is required for the real-time vehicle safety based on camera and radar. The wireless communication technology that supports such data rate enables the safety information exchange between vehicles and the other things.  
Though 5G is to be one of the solutions of V2X [9], which is expected to support the data rate of 20 Gbit/s, the operating millimeter wavelength brings a significant signal attenuation in certain scenarios [10], hence the expected data rate can be hardly achieved in practice. As a newly developed wireless communication technology, the visible light communication (VLC) based V2X communication technology, utilizing the original LED car headlights, meets the basic requirements of the V2X communication with the additional advantages of large capacity and high security [11]. The highest data rate of the VLC based V2X communication system reported by now is 1.25 Gb/s [12].  
However, the current VLC based V2X systems are all under the open loop control. There is no feedback in the communication process. In the practical scene of V2X communications, the distance between the transmitter and the receiver might change constantly. The light intensity changes with the distance, causing the variety of the communication quality. Therefore, the data rate should be flexible under the channel conditions to achieve the data rate at every point as high as possible.  
This paper proposed the V2X communication method based on the integration of probabilistic shaping (PS) bitloading multi-input-multi-output (MIMO) VLC and radar, which is the first sensing and communication system based on VLC. The system supports the data rate beyond 1.1 Gb/s with the distance up to 5 m, and the highest data rate of 1.8484 Gb/s, which is the highest data rate in VLC base V2X communication systems as far as we know.