Optimum routing of battery electric vehicles: Insights using empirical data and microsimulation

This study investigates the energy consumption impact of route selection on battery electric vehicles (BEVs) using empirical second-by-second Global Positioning System (GPS) commute data and traffic micro-simulation data. Drivers typically choose routes that reduce travel time and therefore travel cost. However, BEVs’ limited driving range makes energy efficient route selection of particular concern to BEV drivers. In addition, BEVs’ regenerative braking systems allow for the recovery of energy while braking, which is affected by route choices. State-of-the-art BEV energy consumption models consider a simplified constant regenerative braking energy efficiency or average speed dependent regenerative braking factors. To overcome these limitations, this study adopted a microscopic BEV energy consumption model, which captures the effect of transient behavior on BEV energy consumption and recovery while braking in a congested network. The study found that BEVs and conventional internal combustion engine vehicles (ICEVs) had different fuel/energy-optimized traffic assignments, suggesting that different routings be recommended for electric vehicles. For the specific case study, simulation results indicate that a faster route could actually increase BEV energy consumption, and that significant energy savings were observed when BEVs utilized a longer travel time route because energy is regenerated. Finally, the study found that regenerated energy was greatly affected by facility types and congestion levels and also BEVs’ energy efficiency could be significantly influenced by regenerated energy.     

Network user equilibrium of battery electric vehicles considering flow-dependent electricity consumption

This paper addresses the equilibrium traffic assignment problem involving battery electric vehicles (BEVs) with flow-dependent electricity consumption. Due to the limited driving range and the costly/time-consuming recharging process required by current BEVs, as well as the scarce availability of battery charging/swapping stations, BEV drivers usually experience fear that their batteries may run out of power en route. Therefore, when choosing routes, BEV drivers not only try to minimize their travel costs, but also have to consider the feasibility of their routes. Moreover, considering the potential impact of traffic congestion on the electricity consumption of BEVs, the feasibility of routes may be determined endogenously rather than exogenously. A set of user equilibrium (UE) conditions from the literature is first presented to describe the route choice behaviors of BEV drivers considering flow-dependent electricity consumption. The UE conditions are then formulated as a nonlinear complementarity model. The model is further formulated as a variational inequality (VI) model and is solved using an iterative solution procedure. Numerical examples are provided to demonstrate the proposed models and solution algorithms. Discussions of how to evaluate and improve the system performance with non-unique link flow distribution are offered. A robust congestion pricing model is formulated to obtain a pricing scheme that minimizes the system travel cost under the worst-case tolled flow distribution. Finally, a further extension of the mathematical formulation for the UE conditions is provided.     

Network equilibrium models with battery electric vehicles

The limited driving ranges, the scarcity of recharging stations and potentially long battery recharging or swapping time inevitably affect route choices of drivers of battery electric vehicles (BEVs). When traveling between their origins and destinations, this paper assumes that BEV drivers select routes and decide battery recharging plans to minimize their trip times or costs while making sure to complete their trips without running out of charge. With different considerations of flow dependency of energy consumption of BEVs and recharging time, three mathematical models are formulated to describe the resulting network equilibrium flow distributions on regional or metropolitan road networks. Solution algorithms are proposed to solve these models efficiently. Numerical examples are presented to demonstrate the models and solution algorithms.     

Integrated planning of static and dynamic charging infrastructure for electric vehicles

This paper investigates the optimal deployment of static and dynamic charging infrastructure considering the interdependency between transportation and power networks. Static infrastructure means plug-in charging stations, while the dynamic counterpart refers to electrified roads or charging lanes enabled by charging-while-driving technology. A network equilibrium model is first developed to capture the interactions among battery electric vehicles’ (BEVs) route choices, charging plans, and the prices of electricity. A mixed-integer bi-level program is then formulated to determine the deployment plan of charging infrastructure to minimize the total social cost of the coupled networks. Numerical examples are provided to demonstrate travel and charging plans of BEV drivers and the competitiveness of static and dynamic charging infrastructure. The numerical results on three networks suggest that (1) for individual BEV drivers, the choice between using charging lanes and charging stations is more sensitive to parameters including value of travel time, service fee markup, and battery size, but less sensitive to the charging rates and travel demand; (2) deploying more charging lanes is favorable for transportation networks with sparser topology while more charging stations can be more preferable for those denser networks.     

Modeling the charging and route choice behavior of BEV drivers

Due to the limited cruising range of battery electric vehicle (BEV), BEV drivers show obvious difference in travel behavior from gasoline vehicle (GV) drivers. To analyze BEV drivers’ charging and route choice behaviors, and extract the differences between BEV and GV drivers’ travel behavior, two multinomial logit-based and two nested logit-based models are proposed in this study based on a stated preference survey. The nested structure consists of two levels: the upper level represents the charging decision, and the lower level shows the route choices corresponding to the charging and no-charging situations respectively. The estimated results demonstrate that the nested structure is more appropriate than the multinomial structure. Meanwhile, it is observed that the initial state of charge (SOC) at origin of BEV is the most important factor that affects the decision of charging or not, and the SOC at destination becomes an important impact factor affecting BEV drivers’ route choice behavior. As for the route choice behavior when BEV has charging demand, the charging station attributes such as charging time and charging station’s location have significant influences on BEV drivers’ decision-making process. The results also show that BEV drivers incline to choose the routes with charging station having less charging time, being closer to origin and consistent with travel direction. Finally, based on the proposed models, a series of numerical analysis has been conducted to verify the effect of range anxiety on BEV charging and route choice behavior and to reveal the variation of comfortable initial SOC at origin with travel distance. Meanwhile, the effects of charging time and distance from origin to charging station also have been discussed.     

Electric vehicle charging station locations: Elastic demand,station congestion,and network equilibrium

Battery-only electric vehicles (BEVs) generally offer better air quality through lowered emissions, along with energy savings and security. The issue of long-duration battery charging makes charging-station placement and design key for BEV adoption rates. This work uses genetic algorithms to identify profit-maximizing station placement and design details, with applications that reflect the costs of installing, operating, and maintaining service equipment, including land acquisition. Fast electric vehicle charging stations (EVCSs) are placed across a congested city's network subject to stochastic demand for charging under a user-equilibrium traffic assignment. BEV users’ station choices consider endogenously determined travel times and on-site charging queues. The model allows for congested-travel and congested-station feedback into travelers’ route choices under elastic demand and BEV owners’ station choices, as well as charging price elasticity for BEV charging users.Boston-network results suggest that EVCSs should locate mostly along major highways, which may be a common finding for other metro settings. If 10% of current EV owners seek to charge en route, a user fee of $6 for a 30-min charging session is not enough for station profitability under a 5-year time horizon in this region. However, $10 per BEV charging delivers a 5-year profit of $0.82 million, and 11 cords across 3 stations are enough to accommodate a near-term charging demand in this Boston-area application. Shorter charging sessions, higher fees, and/or allowing for more cords per site also increase profits generally, everything else constant. Power-grid and station upgrades should keep pace with demand, to maximize profits over time, and avoid on-site congestion.     

A model for assessing the effects of dynamic travel time information via variable message signs

In view of the serious traffic congestion during peak hours in most metropolitan areas around the world and recent improvement of information technology, there is a growing aspiration to alleviate road congestion by applications of electronic information and communication technology. Providing drivers with dynamic travel time information such as estimated journey times on major routes should help drivers to select better routes and guide them to utilise existing expressway network. This can be regarded as one possible strategy for effective traffic management. This paper aims to investigate the effects and benefits of providing dynamic travel time information to drivers via variable message signs at the expressway network. In order to assess the effects of the dynamic driver information system with making use of the variable message signs, a time-dependent traffic assignment model is proposed. A numerical example is used to illustrate the effects of the dynamic travel time information via variable message signs. This revised version was published online in June 2006 with corrections to the Cover Date.     

Eco-driving behaviors of electric vehicle users: A survey study

Previous research has shown that electric vehicle (EV) users could behave differently compared to internal combustion engine vehicle (ICEV) drivers due to their consciousness or practices of eco-driving, but very limited research has fully investigated this assumption. This research explores this topic through investigating EV drivers’ eco-driving behaviors and motivations. We first conducted a questionnaire survey on EV drivers’ driving behavior and some hypothetical decisions of their driving. It indicates various characteristics between EV and ICEV commuters, including self-reported daily driving habits, preferences of route choices, tradeoff between travel time and energy saving, and adoption of in-vehicle display (IVD) technologies. Then, through statistical analysis with Fisher’s exact test and Mann-Whitney U test, this research reveals that, compared to ICEV drivers, EV drivers possess significantly calmer driving maneuvers and more fuel-efficient driving habits such as trip chaining. The survey data also show that EV drivers are much more willing to save energy in compensation of travel time. Furthermore, the survey data indicate that EV drivers are more willing to adopt eco-friendly IVD technologies. All these findings are expected to improve the understanding of some unique behavior found in EV drivers.     

Battery capacity design for electric vehicles considering the diversity of daily vehicles miles traveled

In this paper, we study battery capacity design for battery electric vehicles (BEVs). The core of such design problems is to find a good tradeoff between minimizing the capacity to reduce financial costs of drivers and increasing the capacity to satisfy daily travel demands. The major difficulty of such design problems lies in modeling the diversity of daily travel demands. Based on massive trip records of taxi drivers in Beijing, we find that the daily vehicle miles traveled (DVMT) of a driver (e.g., a taxi driver) may change significantly in different days. This investigation triggers us to propose a mixture distribution model to describe the diversity in DVMT for various driver in different days, rather than the widely employed single distribution model. To demonstrate the merit of this new model, we consider value-at-risk and mean-variance battery capacity design problems for BEV, with respect to conventional single and new mixture distribution models of DVMT. Testing results indicate that the mixture distribution model better leads to better solutions to satisfy various drivers.     

Analysis of the effect of charging needs on battery electric vehicle drivers’ route choice behaviour: A case study in the Netherlands

Electric travelling appears to dominate the transport sector in the near future due to the needed transition from internal combustion vehicles (ICV) towards Electric Vehicles (EV) to tackle urban pollution. Given this trend, investigation of the EV drivers’ travel behaviour is of great importance to stakeholders including planners and policymakers, for example in order to locate charging stations. This research explores the Battery Electric Vehicle (BEV) drivers route choice and charging preferences through a Stated Preference (SP) survey. Collecting data from 505 EV drivers in the Netherlands, we report the results of estimating a Mixed Logit (ML) model for those choices. Respondents were requested to choose a route among six alternatives: freeways, arterial ways, and local streets with and without fast charging. Our findings suggest that the classic route attributes (travel time and travel cost), vehicle-related variables (state-of-charge at the origin and destination) and charging characteristics (availability of a slow charging point at the destination, fast charging duration, waiting time in the queue of a fast-charging station) can influence the BEV drivers route choice and charging behaviour significantly. When the state-of-charge (SOC) at the origin is high and a slow charger at the destination is available, routes without fast charging are likely to be preferred. Moreover, local streets (associated with slow speeds and less energy consumption) could be preferred if the SOC at the destination is expected to be low while arterial ways might be selected when a driver must recharge his/her car during the trip via fast charging.     

Modeling drivers' diversion from normal routes under ATIS using generalized estimating equations and binomial probit link function

Advanced Traveler Information Systems (ATIS) provide travelers with real time traffic information to optimize their travel choices. The objective of this paper is to model drivers' diversion from their normal routes in the provision of ATIS. Five different scenarios of traffic information are used. Generalized Estimating Equations (GEE) framework with repeated observations and binomial probit link function is introduced and implemented. GEE with four different correlation structures including the independent case are developed and compared with each other and with regular Maximum Likelihood Estimation (MLE). A travel simulator was used. Sixty-five subjects have traveled 10 simulated trial days each on a 40-link realistic network with real historical congestion levels. The results showed that providing traffic information increases the probability of drivers' diversion from their normal routes. Adding advice to the pre-trip and/or en-route information encourages drivers to divert. Providing en-route in addition to the pre-trip information with or without advice increases the diversion probability. High travel time on the normal route and less travel time on the diverted route increase the probability of diversion. High-educated drivers are less likely to divert. Expressway users are more likely to divert from their normal routes under ATIS. Drivers' familiarity with the device that provides the information and high number of traffic signals on the normal route increase the diversion probability.     

To save money or to save time: Intelligent routing design for plug-in hybrid electric vehicle

Electric vehicles (EVs) are promising alternative to conventional vehicles, due to their low fuel cost and low emissions. As a subset of EVs, plug-in hybrid electric vehicles (PHEVs) backup batteries with combustion engines, and thus have a longer traveling range than battery electric vehicles (BEVs). However, the energy cost of a PHEV is higher than a BEV because the gasoline price is higher than the electricity price. Hence, choosing a route with more charging opportunities may result in less fuel cost than the shortest route. Different with the traditional shortest-path and shortest-time routing methods, we propose a new routing choice with the lowest fuel cost for PHEV drivers. Existing algorithms for gasoline vehicles cannot be applied because they never considered the regenerative braking which may result in negative energy consumption on some road segments. Existing algorithms for BEVs are not competent too because PHEVs have two power sources. Thus, even if along the same route, different options of power source will lead to different energy consumption. This paper proposes a cost-optimal algorithm (COA) to deal with the challenges. The proposed algorithm is evaluated using real-world maps and data. The results show that there is a trade-off between traveling cost and time consumed when driving PHEVs. It is also observed that the average detour rate caused by COA is less than 14%. Significantly, the algorithm averagely saves more than 48% energy cost compared to the shortest-time routing.     

Route swapping in dynamic traffic networks

A dynamic traffic assignment (DTA) model typically consists of a traffic performance model and a route choice model. The traffic performance model describes how traffic propagates (over time) along routes connecting origin-destination (OD) pairs, examples being the cell transmission model, the vertical queueing model and the travel time model. This is implemented in a dynamic network loading (DNL) algorithm, which uses the given route inflows to compute the link inflows (and hence link costs), which are then used to compute the route travel times (and hence route costs). A route swap process specifies the route inflows for tomorrow (at the next iteration) based on the route inflows today (at the current iteration). A dynamic user equilibrium (DUE), where each traveller on the network cannot reduce his or her cost of travel by switching to another route, can be sought by iterating between the DNL algorithm and the route swap process. The route swap process itself takes up very little computational time (although route set generation can be very computationally intensive for large networks). However, the choice of route swap process dramatically affects convergence and the speed of convergence. The paper details several route swap processes and considers whether they lead to a convergent system, assuming that the route cost vector is a monotone function of the route inflow vector.     

A bi-objective cyclist route choice model

It is widely acknowledged that cyclists choose their route differently to drivers of private vehicles. The route choice decision of commuter drivers is often modelled with one objective, to reduce their generalised travel cost, which is a monetary value representing the combined travel time and vehicle operating cost. Commuter cyclists, on the other hand, usually have multiple incommensurable objectives when choosing their route: the travel time and the suitability of a route. By suitability we mean non-subjective factors that characterise the suitability of a route for cycling, including safety, traffic volumes, traffic speeds, presence of bicycle lanes, whether the terrain is flat or hilly, etc. While these incommensurable objectives are difficult to be combined into a single objective, it is also important to take into account that each individual cyclist may prioritise differently between travel time and suitability when they choose a route.This paper proposes a novel model to determine the route choice set of commuter cyclists by formulating a bi-objective routing problem. The two objectives considered are travel time and suitability of a route for cycling. Rather than determining a single route for a cyclist, we determine a choice set of optimal alternative routes (efficient routes) from which a cyclist may select one according to their personal preference depending on their perception of travel time versus other route choice criteria considered in the suitability index. This method is then implemented in a case study in Auckland, New Zealand.The study provides a starting point for the trip assignment of cyclists, and with further research, the bi-objective routing model developed can be applied to create a complete travel demand forecast model for cycle trips. We also suggest the application of the developed methodology as an algorithm in an interactive route finder to suggest efficient route choices at different levels of suitability to cyclists and potential cyclists.     

Evaluating the benefits of a combined route guidance and road pricing system in a traffic network with recurrent congestion

When drivers do not have complete information on road travel time and thus choose their routes in a stochastic manner or based on their previous experience, separate implementations of either route guidance or road pricing cannot drive a stochastic network flow pattern towards a system optimum in a Wardropian sense. It is thus of interest to consider a combined route guidance and road pricing system. A road guidance system could reduce drivers' uncertainty of travel time through provision of traffic information. A driver who is equipped with a guidance system could be assumed to receive complete information, and hence be able to find the minimum travel time routes in a user-optimal manner, while marginal-cost road pricing could drive a user-optimal flow pattern toward a system optimum. Therefore, a joint implementation of route guidance and road pricing in a network with recurrent congestion could drive a stochastic network flow pattern towards a system optimum, and thus achieve a higher reduction in system travel time. In this paper the interaction between route guidance and road pricing is modeled and the potential benefit of their joint implementation is evaluated based on a mixed equilibrium traffic assignment model. The private and system benefits under marginal-cost pricing and varied levels of market penetration of the information systems are investigated with a small and a large example. It is concluded that the two technologies complement each other and that their joint implementation can reduce travel time more efficiently in a network with recurrent congestion.     

Optimal deployment of charging lanes for electric vehicles in transportation networks

Given the rapid development of charging-while-driving technology, we envision that charging lanes for electric vehicles can be deployed in regional or even urban road networks in the future and thus attempt to optimize their deployment in this paper. We first develop a new user equilibrium model to describe the equilibrium flow distribution across a road network where charging lanes are deployed. Drivers of electric vehicles, when traveling between their origins and destinations, are assumed to select routes and decide battery recharging plans to minimize their trip times while ensuring to complete their trips without running out of charge. The battery recharging plan will dictate which charging lane to use, how long to charge and at what speed to operate an electric vehicle. The speed will affect the amount of energy recharged as well as travel time. With the established user equilibrium conditions, we further formulate the deployment of charging lanes as a mathematical program with complementarity constraints. Both the network equilibrium and design models are solved by effective solution algorithms and demonstrated with numerical examples.     

An empirical assessment of the feasibility of battery electric vehicles for day-to-day driving

Driven by sustainability objectives, Australia like many nations in the developed world, is considering the option of battery electric vehicles (BEVs) as an alternative to conventional internal combustion engine vehicles (ICEVs). In addition to issues of capital and running costs, crucial questions remain over the specifications of such vehicles, particularly the required driving range, recharge time, re-charging infrastructure, performance, and other attributes that will be of importance to consumers. With this in mind, this paper assesses (hypothetically) the extent to which current car travel needs could be met by BEVs for a sample of motorists in Sydney assuming a home-based charging set-up, which is likely to be the primary option for early adopters of the technology. The approach uses five weeks of driving data recorded by GPS technology and builds up home-home tours to assess the distances between (in effect) charging possibilities. An energy consumption model based on characteristics of the vehicle, and the speeds recorded by the GPS is adapted to determine the charge used, while a battery recharge function is used to determine charging times based on the current battery level. Among the most pertinent findings are that over the five weeks, (i) BEVs with a range as low as 60 km and a simple home-charge set-up would be able to accommodate well over 90% of day-to-day driving, (ii) however the incidence of tours requiring out-of-home charging increases markedly for vehicles below 24 kWh (170 km range), (iii) recharge time in itself has little impact on the feasibility of BEVs because vehicles spend the majority of their time parked and (iv) effective range can be dramatically impacted by both how a vehicle is driven and use of electrical auxiliaries, and (v) while unsuitable for long, high-speed journeys without some external re-charging options, BEVs appear particularly suited for the majority of day-to-day city driving in big cities where average journey speeds of 34 km/h are close to optimal in terms of maximising vehicle range. The paper has implications for both policy-makers and auto manufacturers in breaking down some of the (perceived) barriers to greater uptake of BEVs in the future.     

Trends in life cycle greenhouse gas emissions of future light duty electric vehicles

The majority of previous studies examining life cycle greenhouse gas (LCGHG) emissions of battery electric vehicles (BEVs) have focused on efficiency-oriented vehicle designs with limited battery capacities. However, two dominant trends in the US BEV market make these studies increasingly obsolete: sales show significant increases in battery capacity and attendant range and are increasingly dominated by large luxury or high-performance vehicles. In addition, an era of new use and ownership models may mean significant changes to vehicle utilization, and the carbon intensity of electricity is expected to decrease. Thus, the question is whether these trends significantly alter our expectations of future BEV LCGHG emissions.To answer this question, three archetypal vehicle designs for the year 2025 along with scenarios for increased range and different use models are simulated in an LCGHG model: an efficiency-oriented compact vehicle; a high performance luxury sedan; and a luxury sport utility vehicle. While production emissions are less than 10% of LCGHG emissions for today’s gasoline vehicles, they account for about 40% for a BEV, and as much as two-thirds of a future BEV operated on a primarily renewable grid. Larger battery systems and low utilization do not outweigh expected reductions in emissions from electricity used for vehicle charging. These trends could be exacerbated by increasing BEV market shares for larger vehicles. However, larger battery systems could reduce per-mile emissions of BEVs in high mileage applications, like on-demand ride sharing or shared vehicle fleets, meaning that trends in use patterns may countervail those in BEV design.     

A consumer-oriented total cost of ownership model for different vehicle types in Germany

In Germany, market penetration by alternative powertrains has been generally processing at a slow pace. Therefore, reaching the 2020 target of one million registered electric vehicles (EVs) is a major challenge. We analyze the German market by advancing and refining existing consumer-oriented total cost of ownership (TCO_C) models and demonstrate the validity of our model by comparing the cost-efficiency of EVs and internal combustion engine vehicles (ICEVs) including the battery resale value for second use and second life. The TCO_C model was calculated for the ten most frequently registered battery electric vehicles (BEVs) and hybrid electric vehicles (HEVs) and compared with ICEVs in the same vehicle segments. The results are further validated through applying three typical annual mileage driver profiles and by Monte Carlo simulations under various scenarios. Results reveal that only a few BEVs and HEVs are economical without subsidies when compared with ICEVs in all considered scenarios. The subsidies only barely change the results. The mini and the medium vehicle segment remain uneconomical in all tested scenarios. Overall, we conclude that subsidies support the competitiveness of BEVs, but fail to lead to favorable TCO_C within several vehicle segments and several tested annual mileages.     

Consumer preferences for battery electric vehicles: A choice experimental survey in China

To accelerate the diffusion of battery electric vehicles (BEVs), consumer preferences for different products and policy attributes must be determined. Although previous studies have investigated consumer preferences for some product attributes, including purchase price, operation cost, driving range, and charging time, limited studies have discussed the broader aspects of product attributes, such as battery warranty and depreciation rate. Moreover, market-oriented incentives, including the personal carbon trading (PCT) scheme and the tradable driving credits (TDC) scheme, can theoretically be effective alternatives to expensive purchase subsidies. However, there is a lack of empirical evidence that confirms the influence of these two schemes on BEV adoption. To fill these gaps, we conducted a stated preference choice experimental survey in China and investigated the effect of product attributes, existing policy incentives, and two emerging market-oriented incentives on BEV adoption. Our results reveal that along with the main product attributes, battery warranty has a significant positive effect on inducing mainstream consumers to adopt BEVs while no preference difference occurs among existing policy incentives after purchase subsidies are abolished. For young consumers, almost all incentives that reduce the operation cost (e.g., PCT) or increase convenience (e.g., TDC) can increase their adoption of BEVs. These findings can provide important implications for the government with regard to designing novel incentives and promoting BEV adoption.