This paper presents AUTOPIA program results towards autonomous vehicles in highways. Based on our previous experience in automatic driving systems, a high-speed controller has been developed to perform vehicle's guidance autonomously. The map is generated in real time by the leading vehicle via vehicle-to-vehicle communications, permitting the vehicle equipped with the automatic system driving in any real circumstance in highways as can be lane-change maneuver. The system has been integrated in one of the AUTOPIA program vehicles and tested in a private circuit at high speeds with good results.