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This article proposes a dynamic wireless charging scheme for electric vehicles (EVs) using autonomous frequency control. The key is to make the receiver circuit of an EV always operate in the splitting region by adopting proper transmitter coils and displacement between adjacent transmitter coils. Then, by sensing the primary current, the autonomous frequency control can achieve constant charging power in the splitting region even the EV is moving. The operating frequency of the system is monitored online. When the operating frequency indicates that the EV is leaving the current transmitter coil and approaching the next transmitter coil, the current transmitter circuit stops working and the next transmitter circuit starts to work, thus achieving continuous charging on the road. Both theoretical calculations and experimental results are given to validate the feasibility of the proposed scheme.