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Route Planning Time Spent on Battery Charging 6.9 Time Spent on Battery Charging The battery needs to be charged on the station and time necessary to charge it depends on charging power of station and the amount of energy needed to be charged. Following will be defined equation of charging the battery. Let’s consider that the progress of charging has linear progression. CH = charging power of station (kW) T = time spent on the station (hr) B = capacity of battery (kWh) A = actual state of charge (kWh) C = average consumption (kWh/100 km) D = distance (m) E = kWh needs to be charged P = state of charge to be load (%) INPUT = actual SoC (A), required SoC (P) OUTPUT = time spent on station (T) E = (B · P ) − (A − ((C/100000) · D)) T=E CH 6.10 Speed Performance of Both Used Algorithms Both algorithms will be compared on real graph shortest path problem. The main ad- vantage of Dijkstra algorithm is that it search only for single-pair vertices path instead of all-pair vertices path that are provided by Floyd-Warshall algorithm. By using priority queue in Dijkstra algorithm, the algorithm runs yet much faster. In Fig. 6.7 are compared both algorithms in three situations. The first situation is charging to 100 percent, the second situation is charging to 50, 75 and 100 percent and the last one (the most time-consuming) is charging from 15 to 100 percent with a 5 percent step. 32PDF Image | Driving Range Estimation and Trajectory Planning
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