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1 Introduction to Vehicle Propulsion and Powertrain Technologies1

1.1 History of Vehicle Development1

1.2 Internal Combustion Engine Vehicles （ICEVs）3

1.2.1 The Four-Stroke Gasoline Engine5

1.2.2 The Four-Stroke Diesel Engine6

1.2.3 ICE Performance Characteristics8

1.2.4 ICE Vehicle Emissions11

1.3 Vehicle Emission Control Technologies16

1.3.1 Advanced Engine Design16

1.3.2 Catalytic Converters19

1.3.3 The Diesel Particulate Filter （DPF）21

1.3.4 Exhaust Gas Recirculation （EGR）22

1.3.5 Crankcase Emission Control System24

1.4 Vehicles with Alternative Fuels25

1.4.1 Natural Gas Vehicles （NGVs）25

1.4.2 Liquefied Petroleum Gas Vehicles （LPGVs）26

1.4.3 Biodiesel27

1.4.4 Hydrogen28

1.5 Powertrain Technologies29

1.5.1 Rear-Wheel Drive Powertrains29

1.5.2 Front-Wheel Drive （FWD） Powertrains30

1.5.3 Multi-Wheel Drive Powertrains31

1.6 Transmission Systems32

1.6.1 Manual Transmission/Transaxle Systems32

1.6.2 Automatic Transmission/Transaxle Systems34

1.6.3 Automated Manual Transmissions （AMTs）38

1.6.4 Continuous Variable Transmissions （CVTs）38

1.7 Drivetrain and Differentials41

1.7.1 Open Differentials41

1.7.2 Limited Slip Differentials42

1.7.3 Locking Differentials43

1.7.4 Transfer Case Differentials43

Problems43

References44

2 Electric and Hybrid Powertrain Technologies47

2.1 Introduction47

2.2 Battery Electric Vehicles （BEVs）48

2.2.1 The BEV Powertrain Configuration49

2.2.2 Electric Traction Motors53

2.2.3 Energy Sources and Storages56

2.2.4 Power Electronic Converters62

2.2.5 Power Bus63

2.2.6 Regenerative Braking System64

2.3 Fuel-Cell Electric Vehicles （FCEVs）65

2.3.1 Fuel-Cell Technologies67

2.4 Hybrid Electric Vehicles71

2.4.1 Degree of Hybridization72

2.4.2 Parallel Hybrid Configuration75

2.4.3 Series Hybrid Configuration80

2.4.4 Power-Split Configuration81

2.4.5 Compound Hybrid Configuration84

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 Systems91

2.9 Summary92

Problems93

References94

3 Body and Chassis Technologies and Design95

3.1 Introduction95

3.2 General Configuration of Automobiles95

3.3 Body and Chassis Fundamentals97

3.3.1 General Packaging97

3.3.2 Design Criteria99

3.3.3 Design Loads101

3.4 Different Types of Structural Systems101

3.4.1 Body-on-Frame Construction101

3.4.2 Backbone Construction102

3.4.3 Space Frame Construction103

3.4.4 Unibody Construction104

3.5 Body and Chassis Materials108

3.5.1 Low Carbon Steel108

3.5.2 Advanced High Strength Steels108

3.5.3 Nonferrous Metals109

3.5.4 Nonmetallic Materials109

3.5.5 Multi-Material Approach in Car Body Design109

3.6 Specific Considerations in Body and Chassis Design of Electric and Hybrid Electric Vehicles110

3.6.1 Packaging110

3.6.2 Material Selection124

3.6.3 Aerodynamics125

3.7 The Chassis Systems of Electric and Hybrid Electric Vehicles126

3.7.1 The Suspension System126

3.7.2 The Steering System134

3.7.3 The Braking System140

Problems146

References148

4 Vehicle Dynamics Fundamentals149

4.1 Introduction149

4.2 Concepts and Terminology149

4.2.1 Evaluation Criteria for Vehicle Dynamics149

4.2.2 Weights and Dimensions150

4.3 Vehicle Kinematics152

4.3.1 Vehicle Coordinate Systems152

4.3.2 Vehicle Motions154

4.3.3 Longitudinal and Lateral Slips155

4.3.4 Planar Vehicle Kinematics158

4.3.5 Three-Dimensional Vehicle Kinematics160

4.3.6 Vehicle Forces and Moments167

4.4 Tire Mechanics and Modeling170

4.4.1 Tire Characteristic Curves171

4.4.2 Tire Models177

4.4.3 The Magic Formula （FM） Tire Model178

Problems178

References179

5 Modelling and Characteristics of EV/HEV Powertrains Components181

5.1 Introduction181

5.2 ICE Performance Characteristics182

5.2.1 Power and Torque Generation182

5.2.2 Mean Effective Pressure184

5.2.3 Specific Fuel Consumption186

5.2.4 Fuel Conversion Efficiency189

5.2.5 Mechanical Efficiency190

5.2.6 Air-Fuel Ratio191

5.2.7 Volumetric Efficiency191

5.2.8 Compression Ratio192

5.2.9 Specific Emissions192

5.2.10 Relationships between ICE Performance Characteristics193

5.3 Electric Motor Performance Characteristics195

5.3.1 Power and Torque Generation195

5.3.2 Efficiency197

5.3.3 DC Motors200

5.3.4 Induction AC Motors203

5.3.5 Steady-State Performance Analysis204

5.3.6 Permanent-Magnet AC Motors210

5.4 Battery Performance Characteristics214

5.4.1 Battery Capacity214

5.4.2 Open Circuit and Terminal Voltages215

5.4.3 Charge/Discharge Rate216

5.4.4 State of Charge/Discharge217

5.4.5 Depth of Discharge218

5.4.6 Battery Energy Density and Specific Energy220

5.4.7 Battery Power Density and Specific Power221

5.4.8 Battery Efficiency223

5.5 Transmission and Drivetrain Characteristics223

5.5.1 Gearboxes223

5.5.2 Planetary Gear Set225

5.5.3 V-Belt CVTs231

5.5.4 Driveline Losses232

5.6 Regenerative Braking Characteristics233

5.7 Driving Cycles236

5.7.1 EPA Driving Cycles236

5.7.2 The European NEDC238

5.7.3 The Japan 10-15 Mode240

Problems241

References243

6 Modeling and Analysis of Electric and Hybrid Electric Vehicles' Propulsion and Braking245

6.1 Introduction245

6.2 The Longitudinal Dynamics Equation of Motion246

6.3 Vehicle Propulsion Modeling and Analysis247

6.3.1 Internal Combustion Engine Vehicles247

6.3.2 Electric Vehicles259

6.3.3 Hybrid Electric Vehicles263

6.4 Vehicle Braking Modeling and Analysis268

Problems274

7 Handling Analysis of Electric and Hybrid Electric Vehicles277

7.1 Introduction277

7.2 Simplified Handling Models277

7.2.1 Single Track Linear Handling Model278

7.2.2 Analytical Handling Analysis282

7.2.3 Roll and Pitch Dynamics Models293

7.3 Comprehensive Handling Model of EVs and HEVs298

7.3.1 Vehicle Kinetics Model299

7.3.2 The Tire Model302

7.3.3 Powertrain and Wheel Dynamics Model303

7.3.4 Simulation Study306

Problems310

References311

8 Energy/Power Allocation and Management313

8.1 Introduction313

8.2 Power/Energy Management Controllers314

8.3 Rule-Based Control Strategies315

8.3.1 Deterministic Rule-Based Control Strategies315

8.3.2 Fuzzy-Rule-Based Control Strategies336

8.3.3 Rule-Based Control Strategies for PHEVs336

8.4 Optimization-Based Control Strategies337

8.4.1 Optimization Problem Formulation339

8.4.2 Global Energy/Power Management Optimization343

8.4.3 Real-Time Energy/Power Management Optimization344

8.4.4 Optimization Techniques345

References365

9 Control of Electric and Hybrid Electric Vehicle Dynamics367

9.1 Introduction367

9.2 Fundamentals of Vehicle Dynamic Control （VDC） Systems368

9.2.1 Driver, Vehicle, and Environment368

9.2.2 Working Principle of VDC systems373

9.2.3 VDC Systems Classification374

9.3 VDC Implementation on Electric and Hybrid Vehicles390

9.3.1 Structure of the Control System390

9.3.2 Control System Design392

9.3.3 Simulation Study401

Problems409

References409

Index411