This paper deals with a straightforward procedure for modeling and controller design of an electric vehicle with a fully-active hybrid energy storage system comprising the battery and supercapacitor for real-time energy management. Firstly, the dynamic models of the energy storage systems, the average model of bi-directional dc-dc converters, the static model of the electric motor, and the vehicle dynamics are obtained. Then, a classical low-pass filter is employed as a supervisory control to define the reference signals of the low-level controllers, which aim to regulate the input currents of the bi-directional dc-dc converters. Besides, the dc-dc converters efficiency factor, depending on the converter power flow direction and operating point, is considered in the electric vehicle model. Next, the obtained model is validated using the FTP-75 drive cycle by comparing the results with an electric vehicle of the commercial CarSim software. Finally, the developed electric vehicle model is implemented in dSPACE using a recent WLTC drive cycle to verify its performance in a real-time digital simulator. The obtained results demonstrate the effectiveness of the proposed modeling approach for real-time energy management in battery/SC electric vehicles.