This thesis explores the use of stereo cameras to perceive immediate and non-line of sight roadway environments of a vehicle. The proposed system enables a ``see-through-the-vehicle-in-front'', functionality by combining scene perception with vehicle-vehicle communication. The fundamental idea of this work is to develop robust scene perception outcomes that can be communicated to other vehicles in the vicinity, potentially using brake light to transmit and decode using cameras, conceptually similar to visible light communications. Through experimental evaluation of the prototype system, this work presents a proof-of-concept of non-line-of-sight (NLOS) perception in vehicles.