Are you already reading this MSDN article ?
http://msdn.microsoft.com/en-us/library/windows/desktop/cc144200%28v=vs.85%29.aspx
It might be worth trying to define the versions of Windows you're using since older versions react differently to autorun commands
Have you picked the commands you want to menu yet or were your examples the commands you plan using, cause I have ideas of maybe just batch commands using relative paths "..COMMANDHERE /flags -options" that might be in batch scripts launched from autorun.inf when some commands aren't possible.
Autorun has evolved in the history of MS and there are some magical things but some frustrating limits to, just depends on what you're trying to accomplish.