Abstract
We combine D* control and sliding mode control, and design, and build a new D* control rule that correspond to change in side wind disturbance, steering-wheel operation, and the road surface. There is a vehicle to which it runs in a different right and left state of the road. When the sidewind was added from the right side to the vehicle, it simulated it. When the sidewind of a constant velocity of the wind was added on the road where a right and left situation under the wheel was different, a horizontal acceleration and the change in the yaw rate were simulated. As a result, though it did not follow to the target orbit when S is fixation It became possible to make them follow to the target orbit by having used a new control rule. It can be said that the technique for proposing it this time is effective.
