Method of moving autonomous vehicle after accident

A method of moving an autonomous vehicle after an accident, the method comprising:

• setting a threshold which is a criterion for determining a failure of a chassis system, the chassis system including an engine system, a steering system, a braking system, and twin clutches;
• recognizing whether the chassis system has failed by using the threshold;
• determining whether a control mode is a first mode in which hydraulic braking and the twin clutches are cooperatively controlled, a second mode in which EPB braking and the twin clutches are cooperatively controlled, or a third mode in which only the twin clutches are controlled, based on whether the braking system has failed when the engine system and the twin clutches are normally operated;
• designating a level of an avoidance speed of a host autonomous vehicle based on whether a following vehicle approaches;
• and
• setting a target trajectory to a safe zone and then generating braking torque on left and right wheels or controlling distribution of driving torque through the twin clutches to move the autonomous vehicle at the avoidance speed along the target trajectory.