A Matlab/Simulink Model for Electric Vehicle with Four Independent In-Wheel Drive and Steering

Four steering wheels in vehicles are one of the most promising innovations rising in the vehicular transportation industry. This spices up the request for vehicle models that can enable four-wheel steering to experiment on different maneuvers. In this paper, we propose a Matlab/Simulink EV system model that allows the vehicle to move vertically and horizontally by independent four-wheel steering. The results show the effectiveness of using four independent wheel steering, especially when rotating within limited spaces, and also when curving at different speed ranges. The proposed model will be very useful for EV control designers when testing and validating their developed control systems.