Use HATEOAS

Hypermedia as the Engine of Application State is a principle that hypertext links should be used to create a better navigation through the API.

{
  "id": 711,
  "manufacturer": "bmw",
  "model": "X5",
  "seats": 5,
  "drivers": [
   {
    "id": "23",
    "name": "Stefan Jauker",
    "links": [
     {
     "rel": "self",
     "href": "/api/v1/drivers/23"
    }
   ]
  }
 ]
}