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CONTENTS CONTENTS 6 Route Planning 20 6.1 ProblemDefinition ............................... 20 6.2 BasicIdeaofanAlgorithm........................... 20 6.2.1 ReachingtheDestinationWithoutCharging . . . . . . . . . . . . . 21 6.2.2 NeedtoStopatLeastOnceonChargingStation . . . . . . . . . . 23 6.2.3 Can’tReachtheDestination...................... 23 6.3 GraphTheory.................................. 24 6.3.1 PathinDirectedGraphs........................ 25 6.3.2 TheShortestPath ........................... 25 6.4 Floyd-WarshallAlgorithm ........................... 25 6.5 DijkstraAlgorithm ............................... 26 6.5.1 PriorityQueue ............................. 27 6.6 DatabaseofChargingStations......................... 27 6.7 RoutePlanningWithChargingto100%................... 29 6.7.1 DisadvantageofthisApproach..................... 29 6.8 MoreAccurateRoutePlanning ........................ 30 6.8.1 MoreDiversifiedStateofCharge ................... 31 6.9 TimeSpentonBatteryCharging ....................... 32 6.10 SpeedPerformanceofBothUsedAlgorithms . . . . . . . . . . . . . . . . . 32 6.11 HeuristicApproach............................... 33 7 Implementation into the Delivered Application 35 7.1 ReadingSignals................................. 35 7.2 ExampleofImplementationtotheApp.................... 35 7.3 TheInterfaceofDevelopedHMI........................ 36 7.3.1 Options ................................. 36 7.3.2 RoutePlanning............................. 38 7.3.3 DisplayingRouteInformation ..................... 38 8 Testing 40 8.1 SWintheLoop................................. 40 8.1.1 TestDrivingRangePolygone ..................... 40 8.1.2 TestRoutePlanningAlgorithm .................... 40 8.2 HWintheLoop-DemoVehicle........................ 44 9 Conclusion 45 A Google Maps API 48 A.1 HowtoSetUptheGoogleMapsAPI..................... 48 A.2 ModifytheApplication’sManifest....................... 48 A.3 HowtoObtainaGoogleAPIKey....................... 48 B Application’s Manifest 50 6PDF Image | Driving Range Estimation and Trajectory Planning
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