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Honda Serial Steering
all talk is in #hondaserialsteering
the 16-17 honda accords (and some others) use a direct line between the MCU(camera and processor) and the EPS module (electronic power steering), where the 18+ accords (and others) send these control signals over CANBUS.
the serial is a UART signal using battery voltages (ie LIN). the honda giraffe brings those lines out to the K LIN and L LIN on the panda obd2 connect. the panda has a LIN tranceiver built in one of its UART buses.