Road accidents are one of the major causes of fateful deaths in Bangladesh. In most cases, it is caused by overtaking on highways or regular roads. In terms of overtaking, the major task is to decide whether the overtaking is safe or not. In this research, our basic concept is to suggest the safe overtaking decision to the host drivers considering an overall idea of the environment. Furthermore, the autonomous system considers communication between vehicles to decide on safe overtaking within a minimum time. Vehicle detection and classification detection. After measuring the distance and relative velocity, our model suggests the decision by using the help of other significant models used in our research. For distance measurement, we used SegNet and a distance measurement model. In addition, for getting relative velocity, we have used optical flow, and also for checking whether the driver is in the right lane or not, we have used the PiNet model for lane detection. Moreover, we have no use of other sensors besides the camera and kept only one camera in our proposed system. So in future, users will get this autonomous system in their vehicles at a low cost as our system proposes. Experimental results from the proposed system show that the deep learning process is better in terms of our country.