Autonomous vehicles are the future which can ensure safety and optimized use of infrastructure the world has. One of the key research areas in this domain is the development of controllers for the motion of the vehicle. The paper aims to design and compare the lateral and longitudinal controllers in a single model, designed in MATLAB. With the set of real-time input variables, the controller will generate a path, based on vehicle’s present position, orientation relative to the point ahead of the vehicles intended path and the required orientation along the path at a specific position. The model was able to simulate the various driving conditions and the scope of future work is also discussed. Such a model will be helpful for those who wants a base development project which can act as a reference to build the model, for further research and development.