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The accurate estimation of lead-acid batteries state of charge (SOC) is very important for electric vehicles (EVs).However electrochemical reaction is a very complex process; it is difficult to simulate its dynamic behavior. Various equivalent circuit models have been studied, but can not show a good compromise between real-time and precision. In this paper, a revised model considering temperatures, discharge rates and different conditions is proposed based on a large number of experiments. These data are obtained from ARBIN, a battery testing device, and EVs. The simulated values are in good agreement with experimental data. And the associated error has been considered acceptable from an engineering point of view. It provided a model support for high accurate SOC estimation.