An Inverse kinematics analysis for a four in-wheel-motor drive and all-wheel independent steering electric vehicle

In this paper, an 14 degrees of freedom (DOF) kinematics model is built for a four in-wheel-motor drive and all-wheel independent steering electric vehicle based on the multi-body dynamics theory. Considering the slippage control of wheels, the optimal speeds in the individual wheel and the optimal steering angles can be obtained for the expected trajectory through Inverse kinematics analysis of the model. A typical case is simulated and the results will be validated by future test data. The results of this paper can provide the basic and standard data to the controlled four in-wheel-motor drive and all-wheel independent steering electric vehicle according to the desired curve motion.