A method of environmental sensing through pilot signals in a spread spectrum wireless communication system is provided with a plurality of wireless terminals. The plurality of wireless terminals includes a plurality of multi-input multi-output (MIMO) radars and at least one base station. The plurality of terminals broadcasts a beacon pilot signals containing a terminal-specific information and encoded with a corresponding identifier. Using the corresponding identifier, an arbitrary radar from the plurality of MIMO radars separates the beacon pilot signal from an ambient signal. More specifically, the arbitrary radar compares the ambient signal to the corresponding identifier of each wireless terminal to identify at least one origin terminal. Subsequently, the arbitrary radar extracts the terminal-specific information from the beacon pilot signal of the origin terminal. The terminal-specific information is used to exchange data between the plurality of wireless terminals for autonomous driving.