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The design of electric vehicles (EVs) is increasingly based upon using the in-wheel technology. In this design, the use of a separate electric machine at each corner of the vehicle provides unique opportunities for innovative vehicle control strategies. In this paper, a sensorless antilock braking system (ABS) is proposed that eliminates the need for the installation of separate conventional ABS sensors and saves the costs associated with the installation and maintenance of those sensors for in-wheel EVs. The proposed ABS exploits the information carried by the back electromotive force (EMF) of the electric machines of the in-wheel vehicle to obtain accurate wheel speed estimation at each wheel and conduct road identification simultaneously. A wavelet-packet denoising method is used to maintain the accuracy of wheel speed estimation in the presence of noise. In addition to sensorless wheel speed estimation, the …