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Integration of large scale renewable energy sources into power grid, battery energy storage performs an important role for smoothing their natural intermittency and ensuring grid-wide frequency stability. Plug-in hybrid electric vehicle and electric vehicle have potential of alternative of the battery because of its high performance lithiumion battery and longer plug-in time than driving time. Therefore, vehicle-to-grid is expected to be one of the key technologies for smart grids integrating renewable energy sources. In this paper, an autonomous distributed vehicle-to-grid control scheme is proposed. Grid-connected electric vehicles contribute frequency regulation and spinning reserve triggered by self-terminal frequency, which is a signal of supply and demand balance in the power grid. Proposed scheme also consider charging request for the next drive and battery condition during the vehicle-to-grid. Satisfaction of vehicle user convenience and effect load frequency control is evaluated through coupled analysis of vehicle-to-grid model and typical power grid model.