July 1: So it begins. Don't worry, this is not in the correct legal jurisdiction!

Steering Angle Sub Control Module

Calculates the optimum control variable for the steering angle sub motor from input values of force motor angle sensor, sub motor angle sensor, and vehicle speed signal for controlling the steering angle sub motor.

Courtesy of NISSAN NORTH AMERICA, INC.
Quickly switches the control after a malfunction occurs, according to synchronous control using FlexRay communication.