In order to keep the autonomous car on a road, using the autodriver algorithm [1], kinematic condition of steering has been used to set the steer angles such that the kinematic center of rotation is on the road curvature center. The road and tire characteristics, along with the dynamics of the moving vehicle cause the vehicle to turn around another point that is not necessarily at the road curvature center. In other words the position of the dynamic turning center is different from the kinematically calculated one. Steady-state responses have been used, to produce a new method for finding the steer angles which will result in a much closer dynamic response to the actual road. The method and the proof have been explained. It is used for determining the steer angles for a sample road, and validated by comparing the results using the kinematically calculated steering angles.