A play set comprises master and slave toy vehicles (50 and 70) and a stationary base unit (20). The master vehicle (50) includes a radio frequency (RF) receiver to be controlled by a manually operated RF remote control unit and an infrared (IR) transmitter configured to broadcast an IR tracking signal. The slave toy vehicle (70) includes a directional receiver to detect the source of the IR tracking signal and an on-board, self-directing control circuit coupled to the at least one directional receiver to control the slave toy vehicle (70) to chase the master toy vehicle. The base unit includes a platform with a game controller and one or more targets mounted so as to move when struck by the master toy vehicle. The game controller and one or both of the toy vehicles are configured for one way or two way wireless communications between the game controller and the toy vehicle(s). The game controller (12) is configured to initiate and control one or more modes of game play through the targets or communication with the toy vehicles.