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In this paper, a structure of the steer-by-wire system with dual steering motors based on FlexRay bus has been proposed for meeting the real-time and reliability requirement of a steer-by-wire system. A control method is proposed to realize the coordinated control of dual steering motors. The control method has been verified experimentally. The results indicate that the control method can effectively achieve coordinated control of the dual steering motors and improve the safety of steer-by-wire vehicles.