Modelling and testing of in‐wheel motor drive intelligent electric vehicles based on co‐simulation with Carsim/Simulink

Abstract

To study the overall performance of the distributed drive intelligent electric vehicle (EV), a in‐wheel motor drive (IWMD) vehicle is developed in this study. The configuration and 11‐degrees of freedom model of IWMD EV is introduced firstly. Then, the co‐simulation model of IWMD EV based on Carsim and Matlab/Simulink is established. The block design is employed for the co‐simulation modelling, including the in‐wheel motor model, driver model, tyre model, steering model, braking model, suspension model, aerodynamic model, and road surface model. The effectiveness and the reasonableness of the co‐simulation model of IWMD EV are verified by the snake testing with on the campus road. The co‐simulation model provides accuracy and reliable simulation method for the path‐tracking and self‐driving study of IWMD intelligent vehicle in the future.