Method of determining the state of charge of a battery used in an electric vehicle

A vehicle comprising:

• wheels;
• one or more electric motors for driving rotation of the wheels;
• a battery configured to provide power to the one or more electric motors;
• and
• a battery management system comprising a microprocessor, the microprocessor performing operations comprising, at each time step of a plurality of time steps:
• receiving battery parameters for the battery;
• based on the received battery parameters for the battery:
• determining an estimated voltage of the battery;
• and
• determining an estimated state of charge (SOC) of the battery;
• receiving a measured voltage of the battery;
• determining a voltage error value based on the measured voltage of the battery and the estimated voltage of the battery;
• correcting, using the voltage error, the estimated SOC to determine a corrected SOC for the battery;
• and
• operating the battery based on the corrected SOC.