Apparatus and method for controlling redundant steering system

An apparatus for controlling a redundant steering system comprising:

• a first steering position controller configured to control a first motor driven power steering (MDPS) module based on a first command steering angle from an autonomous driving system and a current steering angle;
• a second steering position controller configured to control a second MDPS module based on a second command steering angle from the autonomous driving system and the current steering angle;
• an internal communication interface configured to enable a communication between the first steering position controller and the second steering position controller;
• and
• a processor configured to calculate final output information including the current steering angle based on first information output from the first MDPS module and second information output from the second MDPS module, and to apply the final output information to the first steering position controller and the second steering position controller,
• wherein the first steering position controller and the second steering position controller each:
• transmit and receive the first command steering angle and the second command steering angle to and from each other through the internal communication interface;
• calculate a third command steering angle based on the first command steering angle and the second command steering angle;
• and
• control the corresponding MDPS module based on the third command steering angle, and
• wherein the first steering position controller comprises:
• a first steering position controller comprising a first position controller configured to output a first command speed by calculating the third command steering angle based on the first command steering angle and the second command steering angle, and performing a position control based on the third command steering angle and the current steering angle;
• a first speed controller configured to output a first command current by performing a speed control based on the first command speed from the first position controller and a current steering angle speed;
• and
• a first current controller configured to output a first final command current by performing a current control based on the first command current from the first speed controller and a sensor current.