The research and development in autonomous vehicles have gained massive attention in recent years, intending to transform them into a safe, reliable and intelligent solution for transportation. The latest advancement of Artificial Intelligence and Machine learning techniques finds its application in the development of Autonomous vehicles to make it a resilient system. Perception, Localization, Planning and Control are the four-module that makes up the Autonomous vehicle system as a whole. The final parts of planning and control are the most critical subsystems where the end control decision has to be made. This thesis work is a small contribution towards the research on Supervised Neural Network based trajectory prediction and control models for autonomous vehicles.