Amir Khajepour University of Waterloo, Canada

Saber Fallah University of Surrey, UK

Avesta Goodarzi University of Waterloo, Canada and Iran University of Science and Technology, Iran

Preface xiii

Acknowledgments xv

1 Introduction to Vehicle Propulsion and Powertrain Technologies 1

1.1 History of Vehicle Development 1

1.2 Internal Combustion Engine Vehicles (ICEVs) 3

1.3 Vehicle Emission Control Technologies 16

1.4 Vehicles with Alternative Fuels 25

1.5 Powertrain Technologies 29

1.6 Transmission Systems 32

1.7 Drivetrain and Differentials 41

2 Electric and Hybrid Powertrain Technologies 47

2.1 Introduction 47

2.2 Battery Electric Vehicles (BEVs) 48

2.3 Fuel-Cell Electric Vehicles (FCEVs) 65

2.4 Hybrid Electric Vehicles 71

2.5 Plug-in Hybrid Electric Vehicles (PHEVs) 85

2.6 Hybrid Hydraulic Vehicles (HHVs) 87

2.7 Pneumatic Hybrid Vehicles (PHVs) 89

2.8 Power/Energy Management Systems 91

2.9 Summary 92

3 Body and Chassis Technologies 95

3.1 Introduction 95

3.2 General Configuration of Automobiles 95

3.3 Body and Chassis Fundamentals 97

3.4 Different Types of Structural Systems 101

3.5 Body and Chassis Materials 108

3.6 Specific Considerations in Body and Chassis Design of Electric and Hybrid Electric Vehicles 110

3.7 The Chassis Systems of Electric and Hybrid Electric Vehicles 126

4 Vehicle Dynamics Fundamentals 149

4.1 Introduction 149

4.2 Concepts and Terminology 149

4.3 Vehicle Kinematics 152

4.4 Tire Mechanics and Modeling 170

5 Modelling and Characteristics of EV/HEV Powertrains Components 181

5.1 Introduction 181

5.2 ICE Performance Characteristics 182

5.3 Electric Motor Performance Characteristics 195

5.4 Battery Performance Characteristics 214

5.5 Transmission and Drivetrain Characteristics 223

5.6 Regenerative Braking Characteristics 233

5.7 Driving Cycles 236

6 Modeling and Analysis of Electric and Hybrid Electric Vehicles' Propulsion and Braking 245

6.1 Introduction 245

6.2 The Longitudinal Dynamics Equation of Motion 246

6.3 Vehicle Propulsion Modeling and Analysis 247

6.4 Vehicle Braking Modeling and Analysis 268

7 Handling Analysis of Electric and Hybrid Electric Vehicles 277

7.1 Introduction 277

7.2 Simplified Handling Models 277

7.3 Comprehensive Handling Model of EVs and HEVs 298

8 Energy/Power Allocation and Management 313

8.1 Introduction 313

8.2 Power/Energy Management Controllers 314

8.3 Rule-Based Control Strategies 315

8.4 Optimization-Based Control Strategies 337

9 Control of Electric and Hybrid Electric Vehicle Dynamics 367

9.1 Introduction 367

9.2 Fundamentals of Vehicle Dynamic Control (VDC) Systems 368

9.3 VDC Implementation on Electric and Hybrid Vehicles 389

Problems 408

References 409

Index 411

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