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The accurate estimation of the state of charge (SOC) is crucial for the safe and reliable operation of Li-ion batteries. In this paper, novel dual-channel deep learning methods were proposed for SOC estimation during dynamic driving cycles. For dual-channel deep learning methods, each channel of the deep learning methods could be a single convolutional neural network (CNN) layer, single long short-term memory (LSTM) layer or sequentially combined structure of CNN and LSTM. After evaluation, it could be found that dual-channel deep learning methods could achieve higher accuracy than conventional single-channel method, however, the model size and floating-point operations (FLOPs) could be either reduced or increased. Among all the dual-channel deep learning methods, CNN + LSTM-CNN + LSTM method could achieve the highest accuracy and the shortest training time with sacrifices in computational complexity. CNN–CNN + LSTM method could achieve higher accuracy than the single-channel deep learning method with reduced computational complexity and model size. As the error of SOC estimation is highly correlated with voltage signals, conditional judgement was then integrated with dual-channel deep learning method to obtain higher accuracy. After integrated with conditional judgement, the averaged error of SOC estimation could be reduced by more than 45% without a substantial sacrifice in computational time. • Dual-channel deep learning methods are proposed for SOC estimation. • Two channels are responsible for processing of transient and moving averaged signals. • Model hyperparameters are optimized by Tree-structured Parzen estimator. • Cross validation method is applied to evaluate the proposed methods. • Conditional judgement is proposed to obtain higher accuracy. [ABSTRACT FROM AUTHOR]