CN106372757A - Complete distributed charging scheduling management method based on mobile public transportation buses - Google Patents
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Abstract
The invention provides a complete distributed charging scheduling management method based on mobile public transportation buses. Charging stations and electric automobiles carry out information interaction through intermediate agents, the intermediate agents are public transportation buses, each charging station, as an information issuer, periodically issues its own charging service supply condition to the intermediate agents, the public transportation buses driving on lines realize issuing/subscribing aiming at information propagation through vehicle-to-vehicle communication, and the electric automobiles needing charging service obtain state information of all the charging stations in a network through accessing public transportation buses they accidentally meet so as to execute a decision about where they should go for charging. The method is characterized in that: 1, the intermediate agents are mobile, charging management information is obtained through reliance on the mobile lines of the intermediate agents, and thus the flexibility is high; 2, only a quite small number of mobile intermediate agents are needed so that the network configuration cost is quite low; and 3, a distributed charging management mode is employed, and thus the privacy susceptibility is quite low.
Description
Technical field
The present invention relates to a kind of electromobile charging management method.Specifically a kind of fully distributed electronic
Automobile charging management method.
Background technology
People focused more on the air pollution that automotive emission causes in recent years, and the traffic system of environmental protection is
One global target.As the replacement of Fossil fuel power vehicle, pure electric automobile due to carbon dioxide zero-emission
Through being introduced into world market.Although battery handoff technique is advantageous in charging electric vehicle speed, provide battery switching clothes
The charging station of business is related to industry automatic control robot, cooling system and the driver command system of complexity, and service is opened
It is necessary to there be staff on the scene during the beginning.Importantly, the existing plan of global now most electric automobile manufacturer favor
It is still slightly quick charge, a for example usual electric automobile is completely filled with electricity only needs 30 minutes.
Work most in the past be all solve charging problems under landing pattern (with regard to when/whether electric automobile is filled
Electricity), that is, electric automobile has rested in family or charging station.However, due to the limited battery appearance of electric automobile in advancing
Amount and city middle and long distance stroke, electric automobile is easy to use up battery electric quantity it is therefore desirable to enter to electric automobile on the road
Row charges.So, how to manage charging flow to improve the one-tenth for ev industry for the comfortableness of electric automobile driver
Work(and long term survival are most important.
Existing with regard to advance in electromobile charging management optimization problem be usually studied in terms of three below:
The route of planning electric automobile makes minimum energy losses and energy harvesting maximization during the journey, so makes
Obtain the time minimum that electric automobile is completely filled with spark expense.
Deployment charging station enables electric automobile to access charging station in the drive range of oneself.Additionally, should be by
The ability that charging station processes peak demand is taken into account, because the electric automobile having varying number in the different time arrives.
Select suitable charging station as charging plan.For example, selection does not have the charging station of high congestion, to experience
The little charging waiting time.
And electromobile charging management pattern is generally divided into centralized and distributed two ways in advancing.Hubbed mode
Under, Charge Management to be executed by global controller or other third parties interested in Charge Management.However, this process is related to greatly
The privacy information of amount, including position, journey destination and vehicle id etc., these status informations must be sent to global controller.
Distributed benefit is to maintain relatively low privacy-sensitive degree, is done according to oneself acquired charging station status information by electric automobile
Decision-making.
Under as above two ways, necessary information is required for being sent to the corresponding entity participating in Charge Management.Letter
The accuracy of breath plays important role in terms of Charge Management.Generally, cellular network communication is applied to centralized filling
Electric way to manage, and heterogeneous network communication (for example, wifi, wimax or delay/interruption tolerant network) can be used for distributed management
Mode.
Content of the invention
It is an object of the invention to provide a kind of motility height, network configuration low cost, privacy-sensitive degree low based on shifting
The completely distributed charging schedule management method of dynamic public transport.
The object of the present invention is achieved like this:
Charging station and electric automobile carry out information exchange by middle-agent, and described middle-agent is buses (public
Transportation bus, ptb), each charging station issues filling of oneself to middle-agent periodically as information publisher
Electric service provision situation, travels the buses on route and passes through car car (vehicle-to-vehicle, v2v) communication, realize
Publish/subscribe for the purpose of Information Communication, the electric automobile needing charging service is by accessing the buses that opportunistic meets
Obtain all charging station status informations in network, the decision-making where charged is gone in execution.
The present invention can also include:
1st, each charging station described issues the charging service supply of oneself periodically as information publisher to middle-agent
Situation specifically includes:
Step one: charging station first checks for the electric automobile quantity being charged, chargeable if there is the free time
Charging slot, then setting current time be earliest chargeable duration (earliest available time for charging,
eatc)；
Step 2: if whole charging slots in charging station is all occupied, the electric automobile to be charged such as charging station inquiry
Quantity, then, charging station is ranked up according to the First Come First Served strategy electric automobile to be charged to these etc., obtains and arrives first most
The charging electric vehicle time reaching；
Step 3: charging station passes through the electric automobile that inquiry has been charged in charging slot, obtains current chargeable earliest
Time；
Step 4: update earliest chargeable duration, step 2 will be replaced with by the earliest chargeable duration that obtains of step 3
The charging end time coming the first electric automobile that charges obtaining；
Step 5: in charging station, step 2 repeats to step 4, until the electric automobile number to be charged such as remaining
Amount reaches 0, and then the current earliest chargeable duration updating is returned.
2nd, the electric automobile of charging service is needed to make, based on following information, the decision-making that execution goes where to charge:
1) the earliest chargeable duration by obtaining with buses information exchange；
2) electric automobile reaches the time of charging station；
3) from the journey persistent period of charging station to its destination.
3rd, the described journey persistent period is calculated by below equation, if the time of electric automobile to charging station i is ti, charge
Stand i earliest chargeable duration be eatci, the charging electric vehicle time is l, and the journey persistent period of charging station to destination is
ki, work as ti＜ eatciWhen, electric automobile needs to wait eatc before chargei-ti, the time t that arrives atiFor ti=
eatci+l+ki；Work as ti≥eatciWhen, electric automobile reaches charging station without waiting for being directly charged, arrive at when
Between tiFor ti=ti+l+ki；Finally, a charging station, the row arriving at electric automobile are selected from all of charging station
The optimum charging decision of journey persistent period the shortest conduct.
The present invention devises a set of fully distributed electromobile charging management scheme considering driving purpose.Drive meaning
There is daily custom sexual life track to referring to driver, such as remove market shopping, go park leisure etc..On the one hand, driver does not wish
Hope that the charging waiting time of its electric automobile is long；On the other hand, the charging station location of selection also can not be from the journey of driver
Destination too far, and brings inconvenience.The program is by intelligent transportation system (intelligent transportation
Systems, its) combine with vehicle-mounted publish/subscribe (vehicular-publish/subscribe, v-p/s) communications framework, right
In traveling, its charging planning of electric automobile is managed, and has following features and advantage: 1, middle-agent has mobility, charges
The acquisition of information of management depends on the mobile route of middle-agent, therefore has the motility of height；2nd, only need to less shifting
Dynamic property middle-agent, therefore has relatively low network configuration cost；3rd, adopt distributed Charge Management pattern, have relatively low hidden
Private sensitivity.
In order to realize the fully distributed electromobile charging management scheme considering driving purpose it is necessary first to set up car
Carry publish/subscribe communications framework.Vehicle-mounted publish/subscribe communications framework be related to three network entities altogether it may be assumed that
Electric automobile (electric vehicle, ev) actively sends inquiry as information subscribing person, subscribes to by public transport
The charging station status information of car relaying.Electric automobile has a charged state (status of charge, soc).If current
Ratio between electricity and maximum electricity is less than the value of soc, then electric automobile needs to select a charging station as chargometer
Draw.
Charging station (charging station, cs) as information publisher, a certain ad-hoc location in city.Fill
Multiple charging slots are had in power station, can be in parallel for charging electric vehicle.Charging station status information is periodically distributed to city
All legal buses in city.
Buses (public transportation bus, ptb) are mobile entities serving as relaying, and it converges
Collect all of charging station status information and in locally stored middle caching.The mobility of buses is subject to their pre-defined routes
Limit, therefore buses may temporarily cease when by some particular course.
As shown in Figure 1, each charging station is issued the charging service of oneself to middle-agent periodically as publisher and is supplied
Answer situation, the when available free charging slot of such as charging station is for users to use etc..The buses travelling on leased circuit pass through
Car car (vehicle-to-vehicle, v2v) communicates, and realizes the publish/subscribe for the purpose of Information Communication.This vehicle-mounted issue/
Subscribe to communications framework and adopt distributed Charge Management, buses (the whole public transport that wherein electric automobile can meet from opportunistic
Car cloud shares all of charging station status information) the middle status information accessing charging station, and execute the charging based on local information
Decision-making.
The specific design scheme of vehicle-mounted publish/subscribe communications framework is as follows: envisions under City scenarios, all of charging station
It is all according to geographical position deployment, and all of electric automobile is all known a priori by the positional information of these charging stations.Because
These positional informationes are pre-stored in the onboard unit (on-board-unit, obu) of electric automobile.Each charging station
Communicated using the such reliable passage of such as authorized cellular network service and all of buses, and periodically to public transport
Its status information issued by car, for example earliest chargeable duration (earliest available time for charging,
Eatc), that is, in charging station, when available free charging slot (plug-in charging station) can use.A class as public transport
Type, the number of buses is generally few than electric automobile.Because vehicle has high-speed mobility, so maintained by buses charging
The real-time information interaction and between electric automobile of standing is extremely difficult.Therefore in vehicle-mounted publish/subscribe communications framework, buses
Can be in the locally stored middle status information caching all charging stations.During the opportunistic with buses meets, electric automobile
By sending request to buses, these information just can be accessed.But this opportunistic between buses and electric automobile
Meet, due to the long reception time will be experienced, the inevitably inaccurate problem of access information.
Under the basis of vehicle-mounted publish/subscribe communications framework, charging station and electric automobile are entered by middle-agent's buses
Row information interacts.Then, when the electricity of electric automobile is less than state-of-charge value soc, need obtaining charging station status information base
On plinth, the decision-making where charged of going out.It particularly to be noted that, electric automobile for the consideration of charging decision safety,
Need to ensure the credibility of charge station information.Therefore, charging station needs the status information that it is issued to be digitally signed, then
Electric automobile needs before making charging station trade-off decision these information are verified.
In the communications framework of Charge Management scheme, time serieses such as accompanying drawing 2 institute of vehicle-mounted publish/subscribe communications framework
Show:
Step one: each charging station periodically issues its status information to all legal public affairs participating in Information Communication
Hand over car.For example, theme is the earliest chargeable duration eatc of " renewal of charging station state ".Wherein, charging station and public transport workshop
Communication is by cellular network, because it is reasonable that one reliable channel of dependence and trustworthy buses carry out information exchange
With necessary.Each bus will in aggregation networks all charging stations status information, be then buffered in locally stored in.As
Fruit receives a new information, and buses can replace the outdated message caching in the past, the message that is, those need not maintain with it.
Step 2: in view of the meeting property of chance of electric automobile and buses, electric automobile is according to existing service discovery work(
Can be it can be determined that whether buses have the offer such service of charging station state.Particularly, electric automobile can appreciate that public affairs
Hand over the charging station state information updating service of car, thus only sending the query of subscription related to the information updating time slot issue.This
Redundant access signaling can be greatly reduced, especially when electric automobile and buses meet comparison frequent when.
Step 3: electric automobile carries out acquisition of information using same " renewal of charging station state " theme to buses, leads to
Cross support wifi communication v2v come to realize communicate.
Step 4: when a query is received, the charging station status information that buses are cached is returned to send inquiry request
Electric automobile.When receiving these information, the electric automobile of charging service is needed to make its planning of charging with reference to local information
Decision-making.
Here, do a brief analysis for vehicle-mounted publish/subscribe communications framework.Electric automobile and buses pre-
Phase Encounter Time (expected meeting time, emt) may be considered independent same distribution (independent and
Identically distributed, iid) exponential random variable.In some popular mobility models such as random walk point
(substantially) such finger is all shown in (random way-point, rwp) and more true to nature, comprehensive model based on it
Several characteristics of meeting.It should be noted that expected Encounter Time is to be determined by whole network region and special v2v communication range
's.Charge station information release cycle is expressed as t, the quantity of buses is expressed as n.In n buses of whole network, electricity
The probability that electrical automobile can obtain the charging station status information of convergence from least bus is determined in following two factors:
(1) whether once meet between electric automobile and buses；(2) whether this meets buses buffered to converge
Charging station status information.
It is assumed that there are n buses in whole network, we can show that electric automobile at least obtains from buses
Win the confidence the Probability p of breath(v-p/s)For:
Wherein, emt is electric automobile and buses Encounter Time radix, and electric automobile can obtain from i-th bus
The probability of information isDepending on the release cycle t of charging station, the Encounter Time of electric automobile and i-th bus
ForNote only Encounter TimeDuring more than charging station release cycle t,Otherwise,In order to Probability p is increased by suitable communications framework setting(v-p/s), we can obtain:
(1) reduce the release cycle t (if charging station allows suitably to increase the frequency of information issue) of charging station.
(2) increase quantity n of buses.
Accompanying drawing 3 describes in whole management and running scheme electric automobile in the four-stage in Charge Management cycle:
Driving phase: electric automobile travels to its Reiseziel.In this stage, electric automobile constantly slave
The status information of charging station is obtained in the buses that meeting property is met.
Charging programming phase: the electric automobile reaching dump energy threshold value, according to charging station selection strategy, selects specific
Charging station charge.Based on the charging station status information of local cache, electric automobile executes charging station trade-off decision.In this rank
Section, electric automobile constantly obtains the status information of charging station from the buses that opportunistic meets.
The charging schedules stage: once reaching the charging station selected, charging station is based on First Come First Served (first come
First serve, fcfs) order electric automobile is charged arrange.This means that the relatively early electric automobile reaching is filling
To have higher charging priority during electricity scheduling.Here, using etc. electric automobile quantity to be charged and charging interval as meter
Calculate the input of the earliest chargeable duration of charging station.
Battery charging phase: the plug-in charging slot that electric automobile is passing through in charging station charges.It is being completely filled with
When ionization is opened, electric automobile switchs to driving phase and travels to Reiseziel again.Here, when available charging slot is is also
Calculate the factor of the earliest chargeable duration of charging station.
If being in the low battery stage, in traveling, electric automobile must drive towards selected charging station first (electric automobile leads to
Cross the decision-making that local information is made) charge.If the electric automobile that in current charging station, all of charging slot is all stopped accounts for
With the electric automobile then reaching needs to wait until that a certain charging slot is idle.When leaving charging station, electric automobile is again
Drive towards its Reiseziel with initial maximum travel speed.
It should be noted that electric automobile may receive before reaching request charging service threshold value repeatedly collecting
Charging station status information.It is the preferential charging found and make electric automobile experience the shortest route persistent period that charging station selects logic
Stand.Specifically:
Step one: charging station first checks for the electric automobile quantity (i.e. occupied charging slot quantity) charging.
If there is idle chargeable charging slot, then current time is exactly earliest chargeable duration eatc it is meant that this charging
Station is currently able to provide charging service.
Step 2: if whole charging slots in charging station is all occupied it is meant that our station is likely present other waits
The electric automobile charging, charging station needs the electric automobile quantity to be charged such as inquiry.Then, charging station is according to First Come First Served
The strategy electric automobile to be charged to these etc. is ranked up, and obtains the charging electric vehicle time reaching at first.
Step 3: charging station passes through the electric automobile that inquiry is just being charged in charging slot, when obtaining current chargeable earliest
Between eatc.
Step 4: update earliest chargeable duration, step 2 will be replaced with by the earliest chargeable duration that obtains of step 3
The charging end time coming the first electric automobile that charges obtaining.
Step 5: in charging station, step 2 repeats to step 4, until the electric automobile quantity to be charged such as residue
Reach 0.Then the current earliest chargeable duration eatc updating is returned.
The eatc that each charging station step 5 or step one obtain is published, converges and is buffered in buses, and
Can be accessed by electric automobile further.Then the electric automobile needing charging service is made its charging based on these information and is determined
Plan: (1) be derived from step one or step 5 by the eatc obtaining with buses information exchange；(2) reach charging station when
Between；(3) from the journey persistent period of charging station to its destination.
It should be noted that if the time of advent of electric automobile is more early than the earliest chargeable duration of charging station, this just anticipates
Taste electric automobile and is still needed and waits extra time just can be charged.In sum, by carrying out centre in charging station
The travel duration charging mainly is determined by three below factor: (1) is in the charging waiting time of charging station；(2) go
The journey time to charging station；(3) from the stroke persistent period of charging station to journey destination.
Brief description
Fig. 1 is the communications framework schematic diagram of Charge Management scheme in the present invention；
Fig. 2 is the time serieses schematic diagram of vehicle-mounted publish/subscribe communications framework in the present invention；
Fig. 3 is electromobile charging management cycle schematic diagram in the present invention；
The bus routes analogous diagram in Tu4Shi Helsinki city；
Fig. 5 is the flow chart of the present invention.
Specific embodiment
Illustrate below and the present invention is described in more detail.
The present invention devises a set of fully distributed electromobile charging management scheme, in the communication of vehicle-mounted publish/subscribe
Under the basis of framework, charging station and electric automobile carry out information exchange by middle-agent's (i.e. buses).Each charging station is made
Issue the charging service supply situation of oneself for information publisher to middle-agent periodically, when available free such as charging station is is filled
Electrical slot is for users to use etc..The buses travelling on leased circuit pass through truck traffic, realize for the purpose of Information Communication
Publish/subscribe.The electric automobile needing charging service passes through to access buses acquisition charging station status information, makes based on this
The charging decision of ground information.Specific implementation step is as follows:
Step one: charging station first checks for electric automobile quantity n (the i.e. occupied charging slot number being charged
Amount).If charging slot quantity is m in charging station, if n is ＜ m, that is, there is idle charging slot and can use, then current time is just
It is earliest chargeable duration eatc it is meant that this charging station is currently able to provide charging service.
Step 2: if n=m, that is, whole charging slots all occupied it is meant that our station be likely present other wait
The electric automobile charging.If the quantity of the medium electric automobile to be charged of charging station is m, charging station is according to First Come First Served
(fcfs) the strategy electric automobile to be charged to these etc. is ranked up, if the charging electric vehicle time making number one is t.
Step 3: charging station passes through the electric automobile that inquiry has been charged in charging slot, obtains current chargeable earliest
Time (eatc), in all electric automobiles charging, complete the time departure of charging service electric automobile earliest.
Step 4: the currently earliest chargeable duration (eatc) that step 3 obtains is replaced with what step 2 obtained by charging station
The charging end time f, wherein f=eatc+t of the electric automobile making number one.
Step 5: in charging station, step 2 repeats to step 4, until the electric automobile quantity to be charged such as residue
Reach 0.Then the current earliest chargeable duration eatc updating is returned.
Step 6: each charging station is according to time t periodically can filling earliest of obtaining of issuing steps five or step one
Electric time eatc is to all legal buses participating in Information Communication.Wherein, the communication in charging station and public transport workshop is to pass through
Cellular network, because it is reasonable and necessary that one reliable channel of dependence and trustworthy buses carry out information exchange.
Each bus will converge the status information of all charging stations, be then buffered in locally stored in.If receiving one newly
Message, buses can replace, with it, the outdated message (message that namely those need not maintain) caching in the past.
Step 7: need the electric automobile of charging service to pass through to send out to the legal buses of the participation Information Communication running into
Send information inquiring request.When a query is received, the charging station status information that buses are cached is returned to send inquiry request
Electric automobile.In view of the meeting property of chance of electric automobile and buses, electric automobile is according to existing service discovery function (pin
Vehicle-mounted net is proposed) may determine that whether buses have the offer such service of charging station state.Particularly, electric automobile energy
Enough recognize the charging station state information updating service of buses, thus only sending and updating related the ordering of information that time slot is issued
Read inquiry.This can greatly reduce redundant access signaling, especially when electric automobile and buses meet than more frequently when.
Step 8: when electric automobile receives the charging station status information of buses return, electric automobile is based on these to be believed
Breath finds the charging station making electric automobile experience the shortest route persistent period.If the time of electric automobile to charging station i is ti, fill
The earliest chargeable duration of power station i is eatci, the charging electric vehicle time is l, the journey persistent period of charging station to destination
For ki.Work as ti＜ eatciWhen, electric automobile needs to wait eatc before chargei-ti, the time t that arrives atiFor ti=
eatci+l+ki；Work as ti≥eatciWhen, electric automobile reaches charging station without waiting for can directly be charged, and arrives at
Time tiFor ti=ti+l+ki.Select the time that electric automobile is arrived at the destination minimum from all of charging station.
Whole charging scheduling system is in opportunistic network simulator one (opportunistic network
Environment realize in).City scenarios are the Helsinki, Finland maps in 8300 × 7400 square metres of areas, comprise four
Main partition a-d.Additionally, the also motion between three overlay region consideration region a and other regions, and a region overlay is whole
Simulated domain.E area includes a and b, and f area includes a and c, and g area includes a and d, and h area includes a to d.Each area distributes as accompanying drawing 4 institute
Show the bus route of oneself.With regard to the intention of stroke, we distribute point of interest (the points of of five types
interests,pois).Stroke is intended to be distributed by these pois affected, and wherein electric automobile has certain probability close to these
pois.
In view of the road safety in city, the movement velocity of 300 electric automobiles be initialized to [2.7-13.9] rice/
Second.The configuration of electric automobile follow charging specifications maximum power capacity (maximum electricity capacity, mec),
The longest travel distance (max travelling distance, mtd), charged state (status of charge, soc) }.This
In, the power consumption of stroke distances (traveled distance, td) is based on formulaCalculate.Additionally, whole
In individual simulation, 9 charging stations provide sufficient electricity and 3 charging slots, using 62 kilowatts of fast charge rate.Charging station is sent out
Cloth frequency is defaulted as 300 seconds.5 buses are finally configured on every route, translational speed changes in [7-10] meter per second.Once
Reach the destination on their routes, buses will stop [0-120] second.For the communication of electric automobile and buses, I
Consider a low-power wireless technology having 100 meters of transmission ranges.
By disposing equal number of roadside unit on every route and buses are contrasted.When waiting with regard to charging
Between and the stroke persistent period, the result obtaining be run fewer number of buses (one bus of every route) be better than same
The roadside unit of number, this is because mobility brings quick charging station status information to propagate.On the other hand, intensive trackside list
First (8 roadside units of every route) density case and 8 buses performances of every route are close.This means if relayed
Coverage is sufficiently large, and performance tends to saturation.
Claims (4)
1. a kind of completely distributed charging schedule management method based on mobile public transport, charging station and electric automobile pass through middle generation
Reason carry out information exchange, it is characterized in that: described middle-agent be buses, each charging station as information publisher periodically to
Middle-agent issues the charging service supply situation of oneself, and the buses travelling on route pass through truck traffic, realize to believe
Publish/subscribe for the purpose of breath propagation, needs the electric automobile of charging service to obtain by accessing the buses that opportunistic meets
All charging station status informations in network, the decision-making where charged is gone in execution.
2. the completely distributed charging schedule management method based on mobile public transport according to claim 1, is characterized in that institute
State the charging service supply situation that each charging station issues oneself to middle-agent periodically as information publisher to specifically include:
Step one: charging station first checks for the electric automobile quantity being charged, if there is idle chargeable charging
Slot, then setting current time be earliest chargeable duration (earliest available time for charging,
eatc)；
Step 2: if whole charging slots in charging station is all occupied, the electric automobile quantity to be charged such as charging station inquiry,
Then, charging station is ranked up according to the First Come First Served strategy electric automobile to be charged to these etc., and acquisition reaches at first
The charging electric vehicle time；
Step 3: charging station passes through the electric automobile that inquiry has been charged in charging slot, obtains current earliest chargeable duration；
Step 4: update earliest chargeable duration, the earliest chargeable duration that obtains of step 3 will replace with step 2 and obtain
The charging end time coming the first electric automobile that charges；
Step 5: in charging station, step 2 repeats to step 4, until the electric automobile quantity to be charged such as remaining reaches
To 0, then the current earliest chargeable duration updating is returned.
3. the completely distributed charging schedule management method based on mobile public transport according to claim 2, is characterized in that needing
The electric automobile of charging service is wanted to make, based on following information, the decision-making that execution goes where to charge:
1) the earliest chargeable duration by obtaining with buses information exchange；
2) electric automobile reaches the time of charging station；
3) from the journey persistent period of charging station to its destination.
4. the completely distributed charging schedule management method based on mobile public transport according to claim 3, is characterized in that institute
Stating the journey persistent period is calculated by below equation, if the time of electric automobile to charging station i is ti, charging station i's earliest may be used
Charging interval is eatci, the charging electric vehicle time is l, and the journey persistent period of charging station to destination is ki, work as ti＜
eatciWhen, electric automobile needs to wait eatc before chargei-ti, the time t that arrives atiFor ti=eatci+l+ki；
Work as ti≥eatciWhen, electric automobile reaches charging station without waiting for being directly charged, the time t arriving atiFor ti=ti
+l+ki；Finally, a charging station, the stroke persistent period arriving at electric automobile are selected from all of charging station
The shortest conduct optimum charging decision.
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| CN112070341A (en) * | 2020-07-24 | 2020-12-11 | 杭州电子科技大学 | Distributed solving method for multi-robot charging strategy |
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| CN117314061A (en) * | 2023-09-14 | 2023-12-29 | 大连海事大学 | Mobile charging vehicle and electric bus joint scheduling method based on mobile in-transit charging technology |
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