## 5 Methodology
### General Simulation Model
The front wheels were represented by the Independent Suspension-MacPherson block from the Vehicle Dynamics Blockset, while the rear wheels were represented by the Solid Axle Suspension-Coil Spring block. This was a crucial aspect, as the vehicle propulsion system utilizes all four wheels for movement. The Independent Suspension-MacPherson block represents a specific model that incorporates an independent MacPherson suspension for multiple axles, with multiple wheels per axle [49]. The operation of the independent suspension block depends on the modeling of the suspension compliance, damping and geometric effects, which are considered as the relative positions and velocities of the vehicle and wheel carrier, with axle-specific compliance and damping parameters being taken into consideration. Subsequently, the suspension compliance and damping parameters are employed in order to calculate the suspension force exerted on the vehicle and wheel. The Solid Axle Suspension-Coil Spring block is a suspension system designed for vehicles with multiple axles and wheels employing a solid axle suspension with a coil spring [50]. The block model represents the suspension compliance, damping and geometric effects as a function of the wheel positions and velocities. Additionally, it incorporates axle-specific compliance and damping parameters. The block utilizes the data obtained from the wheel position and velocity to calculate the vertical wheel position and the suspension forces exerted on the vehicle and wheel [51; 52]. The subsequent component of the model is the vehicle chassis subsystem. It is therefore important to demonstrate which block represents the vehicle chassis in the simulation environment. This was constructed using the Vehicle Body 6 DOF block from the Vehicle Dynamics Blockset [53]. A six degree-of-freedom (DOF) rigid two-axle vehicle body model was employed to calculate the longitudinal, lateral, vertical, pitch, roll and yaw motion of the vehicle. A number of factors contribute to the block, including the mass of the vehicle's structure, its inertia, the drag experienced by the vehicle as a consequence of aerodynamic forces, the incline of the road and the distribution of weight between the axles. These factors are considered in conjunction with the influence of suspension and external forces and moments. The purpose of these calculations is to realistically characterize the motion of the vehicle. The body-fixed and vehicle-fixed coordinate systems are identical in their fundamental characteristics. The Vehicle Body 6 DOF block is responsible for the transformation of the coordinate system fixed to the body into a general global reference system [53]. In order to calculate the energy consumption of the electric drive systems, the performance data of all the sub-systems presented above are used in the relevant calculations. The data transmitted from the aforementioned subsystem are received by the vehicle's drivetrain, where the torque exerted by the motor is calculated and used to determine the torque request on the wheels through the gearbox and differential. Subsequently, the wheel torques are transmitted as input to the wheel control subsystem of the model. With respect to the original electric vehicle model, the simulation uses a very similar layout. In the I-Pace drivetrain, the electric motor is connected directly to a planetary gear set, which then transfers the different speeds to the drive axle. We simplified the model by using a limited slip differential instead of a planetary differential. The electric motor is connected to a gear ratio which is connected to a limited slip differential and then, with the axles, it is connected to the wheel. It is worth noting that the consumption calculation simulation contains the vehicle suspension and chassis too. The inertia of the entire vehicle body is calculated using the Vehicle Body 6 DOF block. The brake command is conveyed to the brake hydraulics blocks. The data encompass the brake demand for each of the four wheel units.