A method for controlling a plurality of autonomous vehicles, comprising the steps of: a) determining an anomalous situation by means of an anomaly detection device of an initiating vehicle, wherein the anomalous situation generates a change in a reference path of the initiating vehicle, b) defining a risk area based on the determined anomalous situation by means of a control unit of the initiating vehicle, and transmitting the calculated risk area from the initiating vehicle to a rest of the autonomous vehicles in a nearby surroundings, c) determining, by means of each anomaly detection device of each of the rest of the autonomous vehicles based on the received risk area, if the rest of the autonomous vehicles are involved vehicles in the anomalous situation, d) calculating a risk coefficient by means of a risk quantification device of the initiating vehicle and a risk coefficient for each of the at least one involved vehicle by means of each risk quantification device of each involved vehicle, characterized in that the method comprises furthermore the steps of: e) transmitting as a response to a message requesting the risk coefficient sent by the initiating vehicle the calculated risk coefficients from the at least one involved vehicle to the initiating vehicle by means of a telecommunications network, f) assigning, by the control unit of the initiating vehicle based on the received risk coefficients, a main vehicle which centralises the selection of an avoidance surface, wherein the main vehicle is the autonomous vehicle with the higher risk coefficient, g) generating a plurality of candidate avoidance surfaces by the control unit of the main vehicle based on the determined anomalous situation and the reference path of the main vehicle, h) generating a plurality of candidate avoidance surfaces of the at least one other vehicle based on the determined anomalous situation and a reference path of the at least one other vehicle, the at least one other vehicle being the at least one involved vehicle and/or the initiating vehicle, i) selecting an avoidance surface of the main vehicle from among the generated plurality of candidate avoidance surfaces of the main vehicle by means of a control unit of the main vehicle, and selecting an avoidance surface of the at least one other vehicle from among the generated plurality of candidate avoidance surfaces of the at least one other vehicle by means of a control unit of the main vehicle based on the calculated risk coefficient of the at least one other vehicle, and j) transmitting, by means of an electromagnetic wave transceiver of the main vehicle, to the at least one other vehicle the selected avoidance surface of the at least one other vehicle by means of a telecommunications network. a) determining an anomalous situation by means of an anomaly detection device of an initiating vehicle, wherein the anomalous situation generates a change in a reference path of the initiating vehicle, b) defining a risk area based on the determined anomalous situation by means of a control unit of the initiating vehicle, and transmitting the calculated risk area from the initiating vehicle to a rest of the autonomous vehicles in a nearby surroundings, c) determining, by means of each anomaly detection device of each of the rest of the autonomous vehicles based on the received risk area, if the rest of the autonomous vehicles are involved vehicles in the anomalous situation, d) calculating a risk coefficient by means of a risk quantification device of the initiating vehicle and a risk coefficient for each of the at least one involved vehicle by means of each risk quantification device of each involved vehicle, e) transmitting as a response to a message requesting the risk coefficient sent by the initiating vehicle the calculated risk coefficients from the at least one involved vehicle to the initiating vehicle by means of a telecommunications network, f) assigning, by the control unit of the initiating vehicle based on the received risk coefficients, a main vehicle which centralises the selection of an avoidance surface, wherein the main vehicle is the autonomous vehicle with the higher risk coefficient, g) generating a plurality of candidate avoidance surfaces by the control unit of the main vehicle based on the determined anomalous situation and the reference path of the main vehicle, h) generating a plurality of candidate avoidance surfaces of the at least one other vehicle based on the determined anomalous situation and a reference path of the at least one other vehicle, the at least one other vehicle being the at least one involved vehicle and/or the initiating vehicle, i) selecting an avoidance surface of the main vehicle from among the generated plurality of candidate avoidance surfaces of the main vehicle by means of a control unit of the main vehicle, and selecting an avoidance surface of the at least one other vehicle from among the generated plurality of candidate avoidance surfaces of the at least one other vehicle by means of a control unit of the main vehicle based on the calculated risk coefficient of the at least one other vehicle, and j) transmitting, by means of an electromagnetic wave transceiver of the main vehicle, to the at least one other vehicle the selected avoidance surface of the at least one other vehicle by means of a telecommunications network.