I. Introduction
With the characteristics of high power and energy density, lithium-ion batteries are becoming popular in electric vehicles (EVs). In order to prolong battery life and prevent battery damage, reliable and accurate observation of real-time battery status is required for a battery management system. As one of the key parameters, state of charge (SOC) is the indicator of the battery utilization rate. However, it cannot be measured directly and also difficult to be estimated due to series and parallel connections of batteries, which is a threat to the charge/discharge safety.