Development and performance characterization of an electric ground vehicle with independently actuated in-wheel motors

Rongrong Wang, Yan Chen, Daiwei Feng, Xiaoyu Huang, Junmin Wang

Research output: Contribution to journalArticle

246 Scopus citations


This paper presents the development and experimental characterizations of a prototyping pure electric ground vehicle, which is equipped with four independently actuated in-wheel motors (FIAIWM) and is powered by a 72 V 200 Ah LiFeYPO4 battery pack. Such an electric ground vehicle (EGV) employs four in-wheel (or hub) motors to independently drive/brake the four wheels and is one of the promising vehicle architectures primarily due to its actuation flexibility, energy efficiency, and performance potentials. Experimental data obtained from the EGV chassis dynamometer tests were employed to generate the in-wheel motor torque response and power efficiency maps in both driving and regenerative braking modes. A torque distribution method is proposed to show the potentials of optimizing the FIAIWM EGV operational energy efficiency by utilizing the actuation flexibility and the characterized in-wheel motor efficiency and torque response.

Original languageEnglish (US)
Pages (from-to)3962-3971
Number of pages10
JournalJournal of Power Sources
Issue number8
StatePublished - Apr 15 2011
Externally publishedYes



  • Efficiency
  • Electric vehicles
  • Four-wheel independently actuated
  • In-wheel motors

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Energy Engineering and Power Technology
  • Physical and Theoretical Chemistry
  • Electrical and Electronic Engineering

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