中文摘要：

介绍了四轮独立驱动/四轮独立转向（4WID/4WIS）电动车的特点,基于Matlab/Simulink搭建了各子系统及整车的动力学仿真模型,设置了该类型电动车特有的驾驶模式选择功能。模型允许对4个车轮输入不同的驱动转矩和转角;考虑了驱动电机、转向电机的动态响应特性。针对4WID/4WIS电动车特有的蟹行、斜行和原地转向工况进行了仿真。结果表明,模型能够较好地反映4WID/4WIS电动车的动力学响应特性。

英文摘要：

The features of the electric vehicle（EV） with 4 wheels independent driving/steering（4WID/4WIS） are presented.Dynamic simulation models for the vehicle and its subsystems are constructed based on Matlab/simulink with a function of driving mode selection set,which is unique for this type of EV.The models allow the inputs of different drive torques and steer angles of four individual wheels,and take into consideration the dynamic response characteristics of drive motor and steer motor.A simulation is conducted on three working conditions（crab and oblique driving and spot turn） of the EV with 4WID/4WIS.The results show that the model can well reflect the dynamic response characteristics of this type of vehicle.