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Vehicular communication and sensing technologies are mainly based on the conventional radio frequency (RF) or laser technologies. These systems suffer from several issues such as RF interference and poor performance in scenarios where the incidence angle between the speed detector and the vehicle is rapidly varying. Introducing a new sensing technology will add diversity to these systems and enhance the reliability of the real-time data. In this study, we investigate our speed estimation sensing system named “Visible Light Detection and Ranging (ViLDAR)”. ViLDAR utilizes visible light sensing technology to measure the variation of the vehicle's headlamp light intensity and estimate the vehicle speed. The measurement settings of the ViLDAR experiments are presented. The preliminary results obtained in the real-world environment/setting are promising when compared to the simulations. Additional measurements using the ViLDAR prototype will be conducted under different conditions and scenarios to further optimize the system.