## 1 Introduction  
With the constant expansion of cities due to the rapid economic and technological growth, there has been an increase in the population density and therefore, an increase in the density of motorized vehicles. The main effect of high vehicle densities in the cities is the phenomenon of congestion when a vehicle travelling to a destination shown unable to move because the number of moving vehicles exceeds the capacity of roads and blocks its route, so the vehicle has to wait until the vehicle ahead is able to move. The main effects of this waits are increments in travel times, fuel consumption, accident rates, and CO\({}_{2}\) emissions (studies show that approximately 30% of carbon dioxide emissions generated by human activity is originated by vehicles [1]). The main tactics to address the congestion problem in cities are: increase the number and size (capacity) of the existent roads, encourage people to use alternative to the automobile transport, selective and rationing use of roads through congestion charging systems [2] or using mechanisms such as the restriction of usage in specific time intervals [3], and use existing capacity of roads in a more efficiently way. From the above proposals, the first three focus on lighten the negative effects of congestion, but do not focus on the causes. The fourth proposal may have a greater impact because it focuses on how a vehicle is using the available streets. However, this is not a trivial approach since it is not easy for a driver to determine how his decisions are affecting the vehicular network state and therefore, his own trip. One of the main features of the congestion is that occurs in unpredictable ways, so there is no certainty on how many times the vehicle must wait and therefore, how much will be the total travel time based on these expectations. The Department of Transportation of The United States created the Federal ITS Program, in which investment opportunities and initiatives are identified in any of these two aspects: transport infrastructure and vehicle applications; and classification of these projects has resulted in a taxonomy for existing ITS systems [4]. The Table 1 shows the current applications and if they focus on transport infrastructure or vehicular systems. Then, to achieve use the transport infrastructure efficiently, _Intelligent Transportation Systems_ have been used in recent decades. The Intelligent Transportation Systems (ITS) are a set of new components \begin{table}
\begin{tabular}{c c c} \hline  & **Infrastructure** & **Vehicles** \\ \hline Arterial Management & X & \\ Freeway Management & X & \\ Crash Prevention \& Safety & X & \\ Road Weather Management. & X & \\ Roadway Operations \& Maintenance & X & \\ Transit Management & X & \\ Traffic Incident Management & X & \\ Emergency Management & X & \\ Traveler Information & X & \\ Collision Avoidance & & X \\ Driver Assistance & & X \\ Collision Notification & & X \\ \hline \end{tabular}
\end{table} 
Table 1: ITS taxonomy provided by [4]. and services that integrate information, infrastructure and communication technologies to allow the interaction of its elements and to provide specific functionality that improves the efficiency of urban transportation [5]. The field of ITS has expanded to support multiple operations, so there is now a large number of projects, proposals and applications. The most common applications for transport infrastructure are _Information Dissemination_ applications, while in the set of applications for vehicular systems the most common are _Driver Assistance_ applications. The former refers to systems that allow to collect and distribute information efficiently to vehicles and other elements that are part of the system, under specific traffic conditions. The second refers to applications that use information gathered from the context of each vehicle (such as speed or proximity to other vehicles), to allow a driver to make decisions in a timely manner to prevent accidents, improve the efficiency of its route, provide a safer journey, among others.