Secure Distributed Overtaking and Lane Change Maneuvers for Cooperative AVs

Autonomous overtaking requires secure and low-latency coordination among connected vehicles. We present a deterministic, policy-driven framework on Hyperledger Fabric for a cooperative maneuver where the object vehicle keeps its lane while the leading vehicle temporarily moves into an adjacent gap. A smart contract enforces a parametric safety inequality derived from passing sight distance, combining relative speeds, visibility, reaction time and safety margins into a Boolean decision. Using Hyperledger Caliper, we benchmark the framework under realistic workloads and block-cutting configurations. With tuned parameters, the network achieves >250 transactions/s with maximum latency < 1s, satisfying human reaction time constraints. The best trade-off is obtained at BatchTimeout=0.25s and MaxMessageCount=100. Compared with prior blockchain–AV schemes, our design achieves lower latency and competitive throughput while preserving auditable, on-chain safety decisions.