Ok, my problem seems to be similar to this, and this, but following the answers, there is not helping me. This might be because I am using Xcode 5, before I upgraded to this
I had the same error as ckoskar, "Invalid Image Path - No image found at the path referenced under key 'CFBundleIcons': 'icon120x120'"
I ended up deleting the file from the CarPlay section in the AppIcon part of Images.xcassets, and then I was able to submit the build.