The autonomous vehicle concept all started with the advancement of driver assistance and has extended to a new level that now it is semi-autonomous and autonomous vehicle. The main objective of this work is to inculcate a new feature to Advanced Driver Assistance System (ADAS) which in turn lead to development of semi-autonomous/autonomous vehicle. In this connection an attempt is made to integrate obstacle detection, vehicle to vehicle communication and voice control module to provide the necessary control to the vehicles using Raspberry Pi processing unit. A unique and novel approach in the above work is controlling the vehicle through intranet/internet by using concept of Internet of Things (IoT). However, concept of IoT is used to connect various devices with help of protocols for communication.