The power steering, which is controlled via the vehicle's CAN bus, is used to set the desired steering angle. The power steering provides both an angle and a torque interface. At present, only the steering angle interface is used, i.e. the desired steering angle from the high-level control is simply forwarded via the CAN bus to the power steering, which automatically ensures the correct setting of the desired angle.
In the future, however, the torque interface of the power steering will be used for lateral control, which will allow higher accuracy to be achieved even with more dynamic steering maneuvers.