3-Layer fault tolerance strategy in 6×6 hybrid electric vehicle which has independent steering and in-wheel drives

The hierarchy design to overcome the vehicle's fault will be introduced. It is consists of three layers such as physical, presentation, and application layer. Fault detection and physical redundant mechanism is the main issue of the physical layer. Creating fault code and finding out the maximum fault level among multiple fault codes are important activities in the presentation layer. The driving method by remaining motors and emergency stop are vehicle level's action based on vehicle dynamic algorithm and control sequence of the application layer. After explaining each layer's role and activities in detail, the result of the experiments are shown to verify its completeness and superiority.