System architecture of a four-wheel drive Formula Student vehicle

Formula Student vehicles are becoming increasingly complex, especially with the current shift from internal combustion engines toward electric powertrains. The interaction between software and hardware is complex and imposes additional challenges for systems integration. This paper provides a structured introduction to the OBR22 Oxford Brookes Racing Formula Student electric vehicle. From a system architecture perspective, the four-wheel drive in-hub motors topology is described. Diagrams of the hardware components, the architecture of the high voltage and communication systems are presented. This paper also demonstrates the model-based development process, including an overview of the model-in-the-loop (MiL) and hardware-in-the-loop (HiL) control design phases.