A Three-Step Heuristic Approach to the Electric Vehicle Path Planning Problem considering Charging

Table 6

Subpath planning algorithm steps.

Input	Initial network ; charging path .
Output	Final path between starting point and endpoint: .
Step 1: subpath division	Dividing the charging path into the starting and ending points of each subpath, which is represented as .
Step 2: the shortest path solution of each subpath	Taking the subpath as an example, Bellman–Ford’s algorithm is called to obtain the time-optimal path of the subpath. Then, the optimal subpath is stored, and the path of the next pair of nodes is solved until the subpath between , the last charging station, and the endpoint is solved.
Step 3: subpath merging	Deleting the duplicate start and endpoints between each subpath and merging them into the final path .
Step 4	The actual final path from the start point to the endpoint is determined.