本发明公开了一种渐消并行卡尔曼滤波动力电池荷电状态估计方法。S1、建立锂电池等效电路模型，推导电池的状态方程；S2、基于电池状态方程，建立扩展卡尔曼滤波算法；S3、建立自适应渐消扩展卡尔曼滤波算法；S4、建立自适应渐消并行扩展卡尔曼滤波算法。该方法从锂离子电池的荷电状态(State of Charge,SOC)估计出发建立锂离子电池的等效电路模型，针对传统非线性EKF估计精度的不足，提出AFEKF算法，提高了SOC的估计精度；根据三阶状态方程运算量大，提出AFPEKF算法，提高了SOC的估计速度，适用于新能源汽车锂电池SOC估计。
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