A method for estimating a battery state of charge, SoC, of a battery comprising a plurality of battery cells, the method comprising the steps of: determining a battery cell SoC for each of the plurality of battery cells; and determining the battery SoC using a weighted sum of the plurality of battery cell SoC, wherein the weight corresponding to each battery cell SoC is determined based on at least a temperature of the battery cell and a SoC of the battery cell.