Communication of infrastructure information to a vehicle via ground penetrating radar

A vehicle comprising:

• an antenna positioned to broadcast radio waves below the vehicle;
• a ground penetrating radar system to:
• determine shapes of reflectors and a spatial relationship between the reflectors based on radar cross-sections detected by the antenna, wherein the reflectors are embedded below a road surface, wherein the reflectors are positioned in a predefined pattern providing a unique spatial relationship indicative of environmental data that is outside of the road surface, wherein each of the reflectors in the unique spatial relationship has one or more components on at least one of an x-axis, a y-axis, and a z-axis;
• and
• generate a signature based on the shapes and the spatial relationship;
• and
• an active safety module to:
• determine a match between the signature and the predefined pattern;
• determine environmental data based on the match;
• and
• autonomously control the vehicle based on the environmental data.