  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.
