Abstract: Four-wheel independently driving electric vehicles are one of the most promising electric vehicle schemes. Because the wheel motor is driven independently, the operability of system is improved, and the energy consumption generated by the tire can be independently controlled, which provides development potential for control on automobile energy-saving. An accurate model on the tire longitudinal and lateral energy consumption of four-wheel independently driving electric vehicle is the key point while it is the theorical basis for energy saving control. At present, research on the energy consumption models of tire longitudinal and lateral slip, and research on the energy consumption modeling of four-wheel independently driving electric vehicles need to be further improved. Based on the longitudinal and lateral energy consumption characteristics of four-wheel independently driving electric vehicle tires, the energy consumption mechanism of four-wheel independently driving electric vehicles is analyzed. Firstly, the longitudinal and lateral energy consumption models of the tires are developed. And then based on the slip energy consumption model and the electric vehicle energy consumption characteristics, an improved vehicle energy consumption model is introduced. Secondly, in the Carsim / Simulink joint simulation environment, a four-wheel independently driving electric vehicle model and energy consumption model are built, which provides an accurate and reliable simulation platform for the energy consumption research of four-wheel independently driving electric vehicles. Finally, simulation results under different working conditions prove the necessity of energy optimization control considering the energy consumption of lateral slip.

Key words: four-wheel-independently-driving electric vehicles, longitudinal and lateral slip energy consumption, carsim, energy consumption simulation model