{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T12:33:34Z","timestamp":1761741214534,"version":"build-2065373602"},"reference-count":17,"publisher":"World Scientific Pub Co Pte Ltd","issue":"06","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2025,11]]},"abstract":"<jats:p>This paper proposes a benchmark problem for the challengers about optimization of body motion control and energy consumption of electric vehicles (EVs) equipped with four in-wheel motor (IWM). By using IWM, not only the control of driving and braking behavior but also the control of the body attitude of EV become possible. In this paper, problem description is given briefly. The proposed simulation platform with full four IWM EV simulator written by Modelica is described and provided. Specially, a functional mockup unit (FMU) of the full vehicle model for connecting between Modelica and MATLAB\/Simulink is used for the challengers who are good at using Simulink platform. The challenging problem that includes two subproblems of speed tracking and lane changing is developed, where the challengers are requested to design their own controller in Modelica or Simulink. Example results are given to show the characteristics of the proposed simulator and the performance of default controller in the benchmark problem.<\/jats:p>","DOI":"10.1142\/s2301385025430071","type":"journal-article","created":{"date-parts":[[2025,3,24]],"date-time":"2025-03-24T04:42:12Z","timestamp":1742791332000},"page":"1769-1781","source":"Crossref","is-referenced-by-count":0,"title":["Benchmark Problem for Motion Control of Four in-Wheel Motor Actuated Vehicles"],"prefix":"10.1142","volume":"13","author":[{"given":"Yutaka","family":"Hirano","sequence":"first","affiliation":[{"name":"HIRANO Research Lab, Tohoku University, Tokyo 101-0021, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rui","family":"Gao","sequence":"additional","affiliation":[{"name":"Modelon K.K., Tokyo 101-0041, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junichi","family":"Kako","sequence":"additional","affiliation":[{"name":"Higashi-Fuji Technical Center, Toyota Motor Corporation, Shizuoka 410-1107, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8752-7523","authenticated-orcid":false,"given":"Fuguo","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1177-2404","authenticated-orcid":false,"given":"Tielong","family":"Shen","sequence":"additional","affiliation":[{"name":"School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2025,6,28]]},"reference":[{"key":"S2301385025430071BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/TTE.2023.3304048"},{"key":"S2301385025430071BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2983149"},{"key":"S2301385025430071BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/TTE.2023.3236894"},{"issue":"1","key":"S2301385025430071BIB004","doi-asserted-by":"crossref","first-page":"4","DOI":"10.54623\/fue.fej.2.1.4","volume":"2","author":"Shamseldin M.","year":"2021","journal-title":"Future Eng. 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