Its construction began on the initiative of President Josip Broz Tito, who called the project the "Road of brotherhood and unity" (Autoput bratstva i jedinstva) after the motto of the League of Communists of Yugoslavia.

The first section between Zagreb and Belgrade was built with the effort of the Yugoslav People's Army and volunteer Youth Work Actions and was opened in 1950.

In the 1960s and 1970s the autoput became a much frequented holiday route for Turkish immigrants in West Germany and Austria (then called Gastarbeiter) visiting their original homeland during the summer vacation time, and for tourists to southeastern Europe.

Originally an ordinary road, the carriageway used to be congested with cars and trucks, especially in summertime, when overtired long-distance drivers caused numerous accidents.

Wrecked cars usually remained in place for long periods of time, providing a grim reminder of the dangers of the highway.