I'm not quite sure I follow you... CD-ROMS that contain MP3 files are usually in ISO9660 format. Some DVD players can read and play MP3s files from CDs but normal CD drives can only read the data, not do anything useful with it like extract the MP3 file data.
Also, you'd need a way to decompress the MP3 file data once you've got it so that you can output it as audio.
There are head units around which can play MP3s on CDs but they're usually not high quality head units and again, they are a bit over priced.
What I am hoping to do is use a laptop and write a piece of software that will interface with the Lexus' stereo and pretend to be a CD changer (with directories being CDs and files being tracks). The MP3s will be stored on hard disk.