want to create live map

What you are asking for is a larger, commercial-grade system and you will have to do a lot of research yourself, but as a general sketch you are looking for:

1. a background map that simply shows roads, place names and so on; this is usually made from tiles and these tiles are made from OpenStreetMap data; you can install the software that makes these tiles yourself, or you can buy the service from a vendor like Mapbox (see http://wiki.openstreetmap.org/wiki/Commercial_OSM_Software_and_Services for other vendors).
2. a database in which you keep your own annotations (custom symbols for roads etc.) because you don't want to upload that to OpenStreetMap
3. a system that collects the vehicle locatios and stores them in a database
4. a front-end that displays the background map, your annotation overlay, and a vehicle overlay; some tile vendors will have their own libraries you can use, or you could use the Open Source libraries Leaflet or OpenLayers (for a web app)

I'm not sure how you want to "control cars on the road" but that componet would also have to be added.