A communications infrastructure system for vehicles. The communications infrastructure system includes an infrastructure including a plurality of beacons sequentially positioned along a road wherein the beacons transmit respective ones of a repeated series of at least three kinds of signals. The communications infrastructure system also includes a communications apparatus provided with a vehicle, which communications apparatus comprises a receiver for receiving a signal transmitted by the beacons, a unit for discriminating the kind of signal, a memory for recording a past record of the kind of signal, and a signal generator generating a signal corresponding to the past record.