Cooperative maneuver among autonomous and conventional vehicles can be considered one of the next steps for obtaining a safer and more comfortable driving. Some examples of these maneuvers are: Adaptive Cruise Control (ACC), intelligent intersection management or automatic overtaking maneuvering, among others. One of the most important aims of the Intelligent Transportation Systems (ITS) is to use roads without substantial modifications of the current infrastructure. The overtaking maneuver demands special attentions, in particular when it is carried out on two-way roads. For this reason, a fuzzy decision system based on fuzzy logic able to execute an autonomous overtaking in two-way roads has been implemented in this paper. The experiments are focused on the longitudinal control when an autonomous vehicle is overtaking to other. Moreover, different cases have been considered using an oncoming vehicle from the other direction on a two-way road. Several trials with three real vehicles communicated via a wireless network were carried out, showing a good behavior.