Abstract--Vehicle Tracking System (VTS) is the technology used to determine the location of a vehicle using different methods. It also provides security to the vehicles. This technology is widely used for fleet management, asset tracking, surveillance, accident prevention etc. This paper proposes a design of an autonomous vehicle based on Internet of Things (IoT) using Raspberry Pi minicomputer. The vehicle contains sensors to detect the obstacle and fire and it stops automatically when detected. The location of the vehicle is updated on the web as it has GPS onboard. It also captures the video and sends it to web page through Internet. Once the owner logins to internet, he can monitor the condition of the vehicle and its location. He can also control its directions using a web page. With this design it is easy to locate the vehicle and get accurate location of the vehicle on google map.