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Route Planning Route Planning With Charging to 100 % 6.7 Route Planning With Charging to 100 % The first approach with good speed performance is route planning through stations with charging to the full state of charge on each of them no matter what for power of charging the station provides. There will be focused always on the the shortest time path planning. The following Fig. 6.4 shows us how the path can be discovered. Figure 6.4: The circles indicate vehicle’s driving range. We can get from start to stations named A, B and C. The only available station in this example near by driving range of destination is the only one named H. The algorithm must in this situation ask Google’s servers four times (station A, B, C and H) and then could be obtained the path between all possible stations with help of charging stations database. All displayed edges in the graph are in the distance up to the maximum driving range. The cost of each station depends on edge which leads into this station plus cost of station where the edge starts. Every edge has different length of distance to the station and it means that each edge discharges the battery differently so the cost function on station depends on each edge. Cost function on each station vertex: cost(station) = edgeDistance + stationW eight To get the best path from start to destination was used above described Floyd-Warshall algorithm. This algorithm can’t deal with any cycles of negative edges. This assumption is fulfilled in the route planning problem. 6.7.1 Disadvantage of this Approach This algorithm provides good speed results but the problem is that the result can be more accurate. We don’t need to charge the battery to the full state of charge always on the 29PDF Image | Driving Range Estimation and Trajectory Planning
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