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I'm working on essentially the same thing. What I am going to do is set it up as a parallel and serial hybrid..

Here is what I mean: Connect the ICE to the drive line (my car is actually a trike so ICE to Centrifigual clutch to second sprocket on the drive electric motor.)

Size the ICE so its about 125% of the cruise needs at its peak efficiency (80% of peak hp in my case, Im using a 10hp diesel, souped up to 12hp with a small turbo)

Then, use a brushless permanent magnet motor and a controller with regen. Use the regen function to act as a generator and voltage regulator to charge the pack. :)
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