This is a Repository for the infinite horizon controller and the preview path tracking controller for Carla-Vehicle assets. It also contains 6 custom maps, developed using RoadRunner VectorZero plugin and GIS data (topology-elevation data, satellite imagery and 3D lidar point clouds). Additional scrips used to generation interaction sceanrios between Autonomous vehicle (AV) and Primary Other Autonmous Vehicle (POAV) is also added. As an example, it spawns the AV and POAV at an intersection at times sampled from a gaussian distribution and records the intensity of a collision, if occured. [Some function descriptions from the controllers missing to avoid plaigirism, since publication pending.]