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The working condition of autonomous guided vehicle (AGV) is special, The error of battery SOC is estimated by the current integration method, and also there is a cumulative error. The SOC estimation accuracy can be improved by using the EKF method. Aiming at the special working conditions of the AGV vehicle, the filtering gain of the EKF method is improved for the dynamic adjustment of the filter gain. Effectively improve the tracking performance of the EKF method. The experimental results show that using the EKF method to estimate the SOC of the AGV car battery is higher, The tracking effect of the estimation process is improved by using the filter gain of the dynamic correction, which solves the problem of inaccurate estimation of the SOC of the battery in the special condition of the AGV vehicle.