Steering angle demand on Electric steering

Hello all,
I am into a project that requires generation of definite wheel angles to achieve the trajectory. I am having an Electric Steering System(EPAS) Zf Electric Steering(not Active Steering). Is there any way i can directly feed steering angle demand and any of the products will take care of actuating the steering on that exact angle precisely and quickly.
I am looking on a application note where it is used in Darpa for steering actuation but couldnt understand properly. Please guide me through.

Thanks for replying.
I wish to use the EPAS Motor for actuation of steering, And the angle feedback signal available are from two pins in the form of Sine and Cosines. My intent is to byepass the EPAS controller and use one of your controller while in autonomous mode.

If a need of additional Motor is needed please brief.

Most modern cars have a steering wheel angle sensor built into the column, they provide the angle over CAN-BUS, you can use this to find out which way the wheels are pointing.

BD