Battery electric vehicles (BEVs) have positive effects on the reduction of petroleum dependence and vehicle emissions. However, limited driving range of BEVs contributes to the range anxiety of drivers. Therefore, accurately estimating remaining driving range is a critical issue for BEV manufacturers to help drivers alleviating range anxiety. In this paper, by using the real-world data collected from a BEV operating in Beijing, China, the nonlinear estimation models for remaining driving range under different temperature conditions are established based on the data-driven method. The models consider the State of Charge (SOC), speed and temperature conditions as the impacting factors for remaining driving range. The significant nonlinear relationship between speed and driving distance per SOC is explored and considered in the model. The robust nonlinear regression method is used to determine the parameters of the models. Model verification results confirm the accuracy of the model. Moreover, the models are used to explore the economical driving speeds for the BEV under different temperature conditions. The results indicate that the economical driving speeds have an increasing trend as temperature increases. The economical driving speeds under low, moderate and high temperate conditions equal to 48.97 km/h, 50.89 km/h and 5137 km/h, respectively. (C) 2018 Elsevier Ltd. All rights reserved.