Shortest Feasible Paths with Charging Stops for Battery Electric Vehicles

We study the problem of minimizing overall trip time for battery electric vehicles in road networks. As battery capacity is limited, stops at charging stations may be inevitable. Careful route planning is crucial because charging stations are scarce and recharging is time-consuming. We extend the constrained shortest-path problem for electric vehicles with realistic models of charging stops, including varying charging power and battery-swapping stations. Although the resulting problem is theoretically hard, we propose a combination of algorithmic techniques to achieve good performance in practice. Extensive experimental evaluation shows that our approach (CHArge) enables computation of optimal solutions on realistic inputs even of continental scale. Finally, we investigate heuristic variants of CHArge that derive high-quality routes in well below a second on sensible instances.