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During the braking process, because of difference between the wheel velocity and the linear vehicle velocity, the slip occurred and it is made vehicle to lose steering control and the friction force, which stops the vehicle, is greatly reduced. To solve this problem, the Antilock Break System (ABS) was proposed, which monitors the wheel velocity and the vehicle velocity to detect and control the slip. The main stage in slip evaluation is vehicle velocity estimation and there are several methods for it, where each one has its advantages and drawbacks. In this paper, an analytical and practical solution to estimate the accurate vehicle velocity estimation based on the data fusion algorithms and during the breaking process is developed. Finally, simulation results show the effectiveness of the new methodology.