The number of autonomous vehicles with advanced driver assistance systems have been increasing multi-fold. These technologies have reduced the work of the driver and have increased the safety of roads. Though a lot work has been done on development of autonomous vehicles, not much attention has been given to the millions of existing cars without these features. In this paper, we propose a method to implement level 2 autonomy in vehicles without Advanced Driver assistance systems. In this work, steering control of vehicles using voltage spoofing (can be extended to throttle and braking modules), development of PID controllers for the modules, and implementation of end-to-end driving to enable autonomous applications have been discussed. By searching for the stabilizing set to find the controller parameters Kp, Ki, and Kd, the system response has been improved and by implementing transfer learning, training data required has been reduced, and thus end-to-end driving with comparable results have been obtained.