Redundant control system applied to brake-by-wire system

1. A redundant control system applied to a brake-by-wire (BBW) system, the redundant control system comprising:

electromechanical brakes (EMBs) provided, respectively, at wheels of a vehicle and configured to perform brake control of the vehicle;

respective controllers connected to each of the EMBs; and

a local gateway on a first communication line configured to receive information on the vehicle and a command of a driver and to transmit the information on the vehicle and the command of the driver to the controllers;

wherein the first communication line is a communication network line used to control and to share fault information between the controllers;

wherein the controllers are configured to receive the information on the vehicle and the command of the driver through a second communication line; and

wherein the second communication line is a chassis communication network line to which information required to brake the vehicle is transmitted from other controllers for suspension, braking, and steering of the vehicle.

2. The redundant control system of claim 1 , wherein the controllers determine whether the controllers malfunction based on data transmitted between the controllers, and the controllers except for a faulty controller perform brake control of the vehicle based on the information on the vehicle and the command of the driver.

3. The redundant control system of claim 2 , wherein any one of the controllers is selected as a main controller, and when the faulty controller among the controllers is the main controller, any one of the controllers that do not malfunction among the controllers is selected as a new main controller.

4. The redundant control system of claim 2 , wherein:

the controllers comprise a first controller which is a main controller, a second controller, a third controller, and a fourth controller; and

when the first controller malfunctions, the second controller is selected as a new main controller, and the second controller, the third controller, and the fourth controller control the vehicle in a safe mode.

5. The redundant control system of claim 4 , wherein:

the first and second controllers are connected, respectively, to two wheels diagonally opposite to each other; and

the third and fourth controllers are connected, respectively to other two wheels diagonally opposite to each other.

6. The redundant control system of claim 4 , wherein when the second controller also malfunctions, the third controller is selected as a new main controller; and

the third controller and the fourth controller control the vehicle in an emergency driving mode to move the vehicle to a safe zone.

7. The redundant control system of claim 1 , wherein each of the controllers transmits a variable having a counter to remaining controllers and primarily determines whether other controllers malfunction by comparing an increase in the respective counters of the received variables.

8. The redundant control system of claim 7 , wherein each of the controllers transmit information on erroneous variables having the counters that are not the same to other controllers, and upon receiving two or more determination results of an error in a specific variable, each of the controllers lastly determines that a controller matched with the specific variable malfunctions.

9. The redundant control system of claim 1 , wherein two of the controllers are connected to a first battery;

two remaining controllers among the controllers are connected to a second battery; and

controllers respectively connected to the first battery and the second battery are connected to diagonally oriented wheels of the vehicle.

10. The redundant control system of claim 9 , wherein when any one of the first battery or the second battery malfunctions, the vehicle is driven in a safe driving mode.

11. The redundant control system of claim 1 , wherein the controllers control the vehicle even if any one of the first communication line or the second communication line, to which signals are transmitted through the local gateway, malfunctions.