This paper presents an operational energy optimization method for pure electric ground vehicles (EGVs) based on terrain profile preview. Dynamic programming is applied to obtain the global optimal energy point for torque distributions. The vehicles considered in this paper are powered by batteries and in-wheel motors. Different from the fuel optimization methods of conventional hybrid electric vehicles which adjust battery power supplies, a pure EGV actuated by in-wheel motors has only one energy source, whose power consumption is mainly determined by the torque distributions among in-wheel motors in terms of their operating efficiencies. Moreover, the optimization results show that different terrains will influence the optimal torque distributions and energy savings.

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