I am Ruolan Fan. I am currently a Master's student who will graduate from Liaoning University of Technology in 2024. I was enrolled in a Bachelor's degree program at Nantong University from 2017 to 2021. My previous research interest was transportation planning, and now I am working on driving state estimation for electric vehicles. Taking distributed drive electric vehicles, which are significantly better than conventional vehicles in terms of control of stability, active safety, and energy efficiency, and use stable, efficient, and environmentally non-polluting battery energy, as study vehicles, we are investigating algorithms used for driving state estimation using low-cost on-vehicle sensor measurements as inputs to provide a basis for active safety control of the vehicles.