Benchmark Problem for Motion Control of Four in-Wheel Motor Actuated Vehicles.

The article presents a benchmark problem focused on motion control optimization for electric vehicles (EVs) equipped with four in-wheel motors (IWMs). It introduces a detailed, industry-verified simulation platform developed in Modelica, featuring a full vehicle model with 3D multibody dynamics, electric powertrain, and nonlinear tire characteristics, which is exportable as a Functional Mockup Unit (FMU) for integration with MATLAB/Simulink. The benchmark comprises two tasks—speed tracking on a rough slippery straight road and lane changing on a rough road—where challengers design controllers to minimize energy consumption, tracking errors, and body motion deviations within specified constraints. An example PID-based controller is provided, demonstrating baseline performance and highlighting areas for improvement. The benchmark aims to bridge the gap between advanced control theories and practical automotive engineering by offering a realistic, accessible platform for testing vehicle motion control algorithms.