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Route Planning More Accurate Route Planning road and this is the biggest problem of this approach and this will be discussed in the next chapter. 6.8 More Accurate Route Planning Let’s consider the following situation. The best path has first charging station with low- current charging power and the vehicle will be charged to the full state of charge. It takes too long time although there could be possible to get from this station with lower SoC to the next charging station. The next station could be a high-current charging station and in this situation can be the battery loaded much faster. There cannot be told, how much exactly should be the battery loaded to get the best result and this parameter is unknown. On the beginning there will be considered only three possible of charging states (100 %, 75 % and 50 % state of charge) on each station in this approach. Each vertex will be divided into three different vertices with the same station’s parameter but with different state of charging. There could happen that the edge may not exist because of lower SoC and the algorithm must take this information into account. Figure 6.5: Edges may not exist. In Fig. 6.6 is shown an example of three different charging states. It is obvious that the complexity rises up. There are only four stations but 12 vertices and 78 edges (both directions must be considered besides edges leading from start and to destination vertex). It leads to more complicated graph and the asymptotic complexity rises up exponencially. The number of edges can be computed as follows: n = number of all possible states of charge E = number of edges S = number of stations in driving range distance from start 30PDF Image | Driving Range Estimation and Trajectory Planning
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