2020 IEEE IAS Industrial and Commercial Power System Asia Technical Conference

Method for Finding the Best Charging Station in the

Power Internet of Things
Yanheng Zhao Chunxiao Song Kai Zhang Xiaoyong Wang Chao Zhang
Network University Network University Network University Information and  
Management Center Management Center Management Center Telecommunications


State Grid of China State Grid of China
Technology College Technology College
Jinan, China Jinan, China
729909623@qq.com 894521642@qq.com
Abstract—With the popularization of electric vehicles and the
long charging time of them, it is easy to cause long queues in
some charging stations. The waiting time of electric vehicles is
too long, and the voltage load in different charging stations is also
seriously unbalanced. This paper introduces a method of finding
the optimal charging station based on the spanning tree
algorithm in the Internet of Things environment, establishes the
geographical topology model of the charging stations, and
proposes a charging scheduling algorithm. On the basis of not
changing the original construction of the charging station,
considering from the users’ side demand, the most time-saving
charging station is recommended for the electric vehicles, which
has the lowest charging cost. This method can also balance the
load of each charging station effectively.
Keywords—electric vehicle, internet of things, spanning tree,
charging scheduling
I. INTRODUCTION
With the rapid development of China's economy and the
rapid growth of the automobile industry, the problems of
energy consumption and environmental pollution are becoming
more and more serious. Currently, the consumption of
petroleum by automobiles accounts for 60% of all petroleum
consumption [1]. New energy automobiles will be an effective
way to reduce petroleum consumption and dependence,
improve the status of environmental pollution and a general
trend of the development of the automobile industry in the
future [2].
New energy vehicles mainly include electric vehicles (EVs),
fuel cell vehicles, etc. By 2025, the number of new energy
vehicles may reach 50 to 80 million [3]. One of the charging
facilities in the future is charging piles in residential
communities, parking lots, streets or other public areas, which
can be used for conventional charging for EVs. The other is to
install alternating current (AC) charging piles and direct
current (DC) charging machines at fixed locations to quickly
charge EVs.
At present, there are still obvious problems in EV charging.
For example, the charging time of conventional charging is too
long [4], and the negative impact of quick charging on the
power grid is obvious [5]. Charging stations obtain electricity
from AC distribution network in a single way [6-7], which
The National Natural Science Foundation of China (51407105), A Project
of Shandong Province Higher Educational Science and Technology Program
(J17KB163).
978-1-7281-4303-3/20/$31.00 ©2020 IEEE
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State Grid of China Company Management Center
Technology College State Grid Shandong State Grid of China
Jinan, China Electric Power Company Technology College
zhangkaisgtc@163.com Jinan, China Jinan, China
823564368@qq.com 278659120@qq.com
increases the burden of the power grid. In the future, with the
popularization of EVs, the charging time and the waiting time
in some popular charging stations is likely to be too long, and
the load imbalance between different charging stations will be
more and more serious. Therefore, the charging scheduling
problem is a research hotspot in the field of EVs.
The research on EV charging scheduling focuses on the
path planning to find charging stations. Reference [6] proposed
a stochastic programming algorithm to achieve the coordinated
charging of plug in hybrid electric vehicle (PHEV) with the
goal of minimizing energy loss. Reference [7] proposed a
vehicle to grid optimal control strategy to maximize the
benefits of EV users through intelligent scheduling of charging
power and charging and discharging time under the condition
of known system price curve. Reference [8] proposed a reverse
induction optimization algorithm for PHEV taxi charging time
slot selection based on time-sharing price, so as to effectively
reduce the charging cost of users. Reference [9] proposed a taxi
fleet scheduling strategy including charging plan based on the
customer's car ordering demand, which effectively reduced the
waiting time of charging. Reference [10] proposed a path
optimization model to reduce users’ driving time and charging
cost by using the electricity price information and traffic
information of charging stations. Reference [11] tested the
energy consumption rate of EVs under different external
factors, and the power consumption of EV would change with
road conditions and other factors. The above literature provides
a reference scheme to the path query of the optimal charging
station proposed in this paper.
Another aspect of EV charging scheduling research focuses
on orderly charging scheduling in charging stations. Based on
the traffic network information, considering the vehicle
location, vehicle battery capacity, downhill potential energy
and other factors, [12] established a path selection optimization
model considering the travel time constraints and aiming at the
minimum energy consumption. Based on the distribution
system and traffic information, and considering the capacity
constraints of charging stations, [13] proposed EV charging
navigation strategy aiming at the minimum travel time of users.
Under the assumption of real-time electricity price and
continuous time for each charging task, [14] proposed a two-
stage conventional charging dispatch algorithm based on the
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one-parent genetic algorithm and hybrid dynamic In the environment of IOT, the EV connects the
programming, which can effectively realize the load balance of communication devices such as vehicle navigation or mobile
power stakes and reduce the cost of electricity charges. phone through its own communication module. The
Reference [15] put forward the method of layered and communication devices send the remaining power, speed,
partitioned dispatching of EVs to realize orderly charging and geographic location information of the EV itself to the data
discharging control of EVs, so as to ensure the economic dispatch center. At the same time, the data dispatch center
operation of the power grid and the minimum charging cost of visits the location of the nearby charging station and the use of
users. Reference [16] established a many-to-one matching charging facilities of the charging station. The EV as root node,
model between users and the charging stations according to the each charging station as sub node, the relationship between the
users’ driving plan and the electricity demand of each charging EV and the charging station is abstracted as a spanning tree
station, which effectively improved the total system utility and model by locating the location of the EV itself and the
users satisfaction. geographic location of the charging station in a certain range
nearby. The charging dispatch algorithm is used to dynamically
Essentially, the charging dispatch problem of EVs based on recommend the charging station with the minimum charging
the Internet of Things (IoT) involves the optimization of both cost for the electric vehicle. Fig.1 illustrates the way of EV
the user side and the service side of the power grid. At present,
communication based on the IoT.
charging scheduling research generally focuses on optimizing
the user side or the grid service side. The existing charging III. CHARGE SCHEDULING PROBLEM MODEL
scheduling for the user side only uses the nearest charging
station recommendation algorithm or the minimum charging The charging scheduling problem consists of four models:
waiting time recommendation algorithm, without considering the EV model, the charging station model, the routing model
the distance and charging waiting time at the same time. and the charging cost model. The main variables used in this
However, as the number of EVs increases in the future, the paper are listed in TABLE I.
optimization of the user side also needs to be considered
TABLE I. MAIN VARIABLES USED IN THIS ARTICLE
besides the grid side. With the continuous development of
information and communication network, the on-board
No. Name Unit Meaning
monitoring system and information acquisition system of EVs 1 c0 - EV
have gradually formed a conventional configuration. However, 2 e0 kW·h residual power of c0
it is urgent to recommend the best charging station method for 3 p0 kw charging power of c0
EVs intelligently, and achieve the load balance of each 4 v0 km/h driving speed of c0
charging station from the user side demand. Consider the 5 k km endurance distance per kW·h
mileage of EVs, the distance and time to the charging station, 6 s0 km distance to continue of c0
the waiting time before charging and the charging time as the 7 t0 min the longest time to continue of c0
charging cost without changing the infrastructure of the 8 ui - the ith charging station
charging station. In this paper, the optimization of the user side 9 eij km distance between charging station i and j
and the grid service side will be considered together to achieve 10 ti min maximum charging time of each EV in ui
the multi-party collaborative development of EV charging 11 si km distance from c0 to ui
12 mi pcs number of charging posts in ui
business.
13 pi pcs number of idle charging posts in ui
II. STRATEGIES FOR EV CHARGING STATION IN THE IOT 14 wi pcs number of waiting charging vehicles in ui
ENVIRONMENT average number of vehicles waiting for
15 ni pcs
charging at each charging post in ui
16 C0i min the shortest distance from c0 to ui
17 qi min charging cost from c0 to ui
18 λ - road congestion rate

In the process of finding the optimal charging cost charging

station for an EV, the EV is used as the root node, all charging
stations within a certain distance are used as sub nodes, the
paths between the EV and charging station and the adjacent
charging stations are used as the edges of the tree, and the
distance of the paths is used as the length of the edges.
Fig.2 shows the layout of the EV and charging stations. The
spanning tree (ST) abstracted from Fig.2 is shown in Fig.3. ST
is a weighted tree, ST=(C,U,E), where C is the collection of all
EVs to be charged, C={c0}, and c0 is the root node of ST. Node
set U is used to represent the collection of charging stations,
U={ui|0<iİn}, ui is the charging station and the child node of
 ST. The line collection is E={eij|0İiİn,0İjİn}, eij indicates
Fig.1. Communication mode of EV based on IoT

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the distance between the EV and charging station as well as the
adjacent charging stations.
Fig.2. Layout of EV and charging stations
Fig.3. Weighted spanning tree ST model based on Fig.2
A. EV Model
Defining that the remaining power of the electric vehicle c0
is e0, the battery charge power is p0, the driving speed is v0, and
the driving range is s0.
s0 = k ∙ e0
t0 = s0 / v0
B. Charging Station Model
Defining the number of charging posts for ui as mi, the
number of idle charging posts is pi, the number of EVs waiting
for charging is wi, the single post waiting rate is ni, and the
maximum charging time allowed for each EV is ti. Node ui
=(ti,Ωi), where ti represents the charging time of the EV at this
charging station, Ωi is the possible charging station from which
the EV will come from. ΩięU, the number inside the node
represents the charging station number.
ni = wi / mi
When pi is greater than 0, ni is 0.
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C. Path Model
The directed edge set E is used to represent the path set
from EV to charging station and between charging stations, E=
{eij|0 İiİn,0İ jİn}. When i = 0, eij represents the path
from the EV to the charging station j, when i Į 0, the direction
of eij represents the driving direction of the EV, that is, the EV
passes through the charging station i to the charging station j,
the value of eij represents the distance from the charging station
i to j directly. Fig.3 shows an abstract diagram with eight
charging stations, for example, the straight-line distance
between the charging station 1 and 3 is 8km, without passing
any other charging stations in the middle.
D. Charging Cost Model
The charging cost model is divided into two modules. The
first module calculates the minimum charging cost for an EV
to any charging station. The second one selects the charging
station with the minimum charging cost among all charging
stations, which is the recommended charging station.
The charging cost from EV c0 to charging station ui is
defined as qi, which includes the time on road to charging
station, the waiting time in charging station, and the charging
time.
qi = C0i + ni ∙ ti + ti (4)
C0i is the shortest time from EV c0 to ui, ni ∙ ti is the average
waiting time in charging station i, and ti is the charging time of
c0.
C0i is calculated by speed v0 of EV and the shortest path s0i
from EV to charging station.
C0i = λ ∙ (s0i / v0) ∙ 60 (5)
λ is defined as the road congestion rate according to
different times. It’s the value which is calculated by the IoT
technology for different cities and roads. In order to facilitate
the study of the algorithm performance, in this article, λ is set
to 1.
(1) IV. CHARGING SCHEDULING ALGORITHM
The implementation method based on locating and
(2) reserving the optimal charging station in the IoT environment,
including the moving EV, charging stations within a certain
range, the path from the EV to the charging stations and
between the charging stations, is abstracted as the charging
station topology model weighted spanning tree ST, as shown in
Fig.3. The traversal algorithm and the shortest path algorithm
are used for ST to evaluate the charging cost of each accessible
charging station, and dynamically recommend and reserve the
charging station with the lowest cost for EV users. The flow to
find the optimal charging station based on the spanning tree
algorithm is shown in Fig.4.
In finding the optimal charging station scheduling
(3) algorithm based on spanning tree, the function GetMixValue is
to calculate the minimum cost of an EV to any charging station.
The idea is: (1) calculates the travel time cost of an EV to the
charging station, (2) calculates the waiting time cost of an EV
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at the charging station, (3) calculates the sum of the charging // the other values of d are
time cost of an EV and the costs of the first two steps. d[s] ĕ 0 positive infinity and d is
the charge cost
while uk not in S
// remove the smallest
for all nodes j not in S and adjacent to i
d[i] not in S
if (d[j] > d[i] + cost[i][j])

d[j]ĕd[i] + cost[i][j] + cost[j]

SĕS + {i} // add node i to the set

call d[uk]

Fig.4. Flowchart for finding optimal charging station based on spanning
tree algorithm
The algorithm uses a greedy algorithm, which first divides
the charging station U into two groups, S and T. The algorithm
defines S as the set of charging stations for which the lowest
charging cost has been calculated and T= U-S as the set of
charging stations for which the lowest charging cost has not
been determined.
int SearchMostSuitableFillingStation(ST)
{// Find the most suitable charging station, traverse each charging station
node, calculate the minimum charging cost of electric vehicle to this access
node, and select the minimum cost charging station from all charging
stations.
q is node of storage ST, p is Temporary queue element q, Station ID is the
ID of charging station with minimum charging cost, Value is used as keep
the charging station with minimum charging cost

Put the nodes in T into S in the order of the minimum If q is not null // if the queue is not empty,
charging cost increasing. The minimum charging cost from c0 continue
to the charging station uk in T is the charging cost on the direct InitQueue(&q)
path from c0 to uk or the sum of charging costs from c0 to uk
through other charging stations in S. EnQueue(&q, T)

Steps to find the minimum charging cost is like this. At // traverse all charging
While QueueEmpty(q) is not null
stations
initial time S={c0}, T= {remaining nodes}, if <c0,ui> is exist
which travel distance from c0 to ui is e0i, then C0i=( e0i /v0)∙60, DeQueue(&q,&p)
qi= C0i +ni∙ti+ ti . If < c0, ui > does not exist, C0i =Inf. As the
ValueĕGetMixValue(c0, p)
same, if < ui,uj> is exist which travel distance from ui to uj is eij,
then C0j=(( e0i +eij)/ v0)∙60, qj= C0j +nj∙tj+ tj. If < ui,uj> does not if p->lchild is not null
exist, C0j =Inf.
EnQueue(&q,p->lchild)
Select a charging station w from T with the minimum
If p->rchild is not null
charging cost and put it into S, modifying the cost value of the
nodes in T. Using w as the intermediate node (because it is not EnQueue(&q,p->rchild)
charging at w but passing by, so the charging cost in w is not
calculated), if the charging cost from c0 to ui is less than that // return to the charging
without w, then modify the cost value (the above two for cycles StationIDĕGetMixCostStation() station with the minimum
are juxtapose and update the minimum charging cost value). charging cost

Repeat the above steps until S contains all nodes, i.e. S=U.
The charging station with the minimum cost of dynamic
recommendation and reservation for users is to sort the
calculated charging cost value of each charging station, and the
charging station with the lowest value of qi is the
recommended booking charging station. The algorithm
pseudo-code to obtain the minimum charging cost from c0 to uk
as follows.
int GetMixValue (c0, uk)
//Calculate the minimum charging cost between c0 and uk and return to the
charging path
Initialize Sĕ{c0}
V. ALGORITHM ANALYSIS
A. Algorithm Instance
Take the charging station shown in Fig.2 as an example and
abstract it as spanning tree (ST), as shown in Fig.5, there are 8
charging stations in the search range of this EV, namely u1~u8.
In ST, c0 is defined as an EV, the data on the path between each
two charging stations is the driving time between them, and the
data in brackets of each charging station node is the sum of
waiting and charging time at this station. If c0 is charging to
station u1, the shortest driving time is 5 minutes, the waiting
and charging time is 120 minutes, and the total charging cost is
125 minutes. If c0 is charging to u2, the shortest path will pass
station u1, the driving time is 12 minutes, the waiting and

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charging time is 125 minutes, and the total charging cost is 137 TABLE III. CALCULATION PROCESS AND RESULTS BASED
minutes. ON SPANNING TREE ALGORITHM

Minimum Waiting and

Calculation Path from Total time for
arrival time charging
process c0 to ui charging / min
from c0 /min time / min
u1 5 u1 120 125
u2 12 u1 u2 125 137
u3 13 u1 u3 125 138
u4 21 u1 u2 u4 45 66
u5 19 u1 u3 u4 60 79
u6 29 u1 u2 u6 65 94
u7 20 u1 u3 u7 95 115
Fig.5. Abstract weighted spanning tree (ST) of charging stations
u8 29 u1 u3 u7 u8 55 84
The algorithm of finding the optimal charging station is to
traverse all charging stations within the searching range of the
EV, calculate the minimum charging cost from the EV to each B. Algorithm Complexity Analysis
charging station, and then select the charging station with the
minimum charging cost as the recommended charging station. Set the number of all charging stations in the search range
TABLE II shows the adjacency matrix representation of ST in of the EV to be charged as n, and the time complexity of the
Fig.5. If there is a direct connection between two charging algorithm to find the optimal charging station is O(n2).
stations, the value of <ui,uj> is the driving time between two The algorithm of finding the optimal charging station firstly
charging stations. If there is no direct connection between two traverses the queues of all charging stations, and the time
charging stations, the value of <ui,uj> is infinite Inf. The value complexity is O(n). Then the algorithm to get the minimum
of <ui,ui> is the sum of waiting and charging time of EV at charging cost of EV is nested, and the time complexity is O(n).
charging station ui. Finally, the time complexity of calculating the optimal
charging station is O(n2).
TABLE II. ADJACENCY MATRIX REPRESENTATION OF ABSTRACT
WEIGHTED SPANNING TREE C. Analysis of Algorithm Simulation Effect
c0 u1 u2 u3 u4 u5 u6 u7 u8 In this paper, the number of charging stations within the
c0 0 search range of EVs is designed as 30, 45 and 60 respectively
u1 5 120 for simulation. The algorithm is based on the IoT environment,
u2 ∞ 7 125 which can instantly obtain the arrival time and waiting time of
u3 ∞ 8 ∞ 125 charging station within the search range of EVs. In the
u4 ∞ ∞ 9 ∞ 45
experimental environment, the arrival time and waiting time of
each charging station are generated by Monte Carlo method,
u5 ∞ ∞ ∞ 6 ∞ 60
and the arrival time is between 5-50 minutes, the waiting time
u6 ∞ ∞ 16 ∞ ∞ ∞ 65
is between 40-160 minutes. The Optimal Charging Station
u7 ∞ ∞ ∞ 7 ∞ ∞ ∞ 95 Algorithm (OCA) is compared with the Nearest Charging
u8 ∞ ∞ ∞ ∞ ∞ ∞ 8 9 55 Station Algorithm (NCA) and the Shortest Charging Waiting-
time Station Algorithm (SCWA), and the results are as follows.
TABLE III shows the calculation process and the results of
using the spanning tree algorithm to find the optimal charging
station. The first column represents each node of the charging
station in ST, the second column is the shortest time to the
charging station calculated by the shortest path algorithm of the
charging vehicle, the third column is the driving path of the
charging vehicle, the fourth column is the waiting and charging
time of the charging vehicle at the charging station, and the last
column is the charging time cost in the charging station. It can
be seen from the calculation results in TABLE III that there is
a shortest driving path to charging station u1, but the minimum
charging cost is to u4, and the driving path is u1ėu2ėu4.

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 ( a ) Comparison of total cost of 30 charging stations
( b ) Comparison of total cost of 45 charging stations
NCA searches for charging stations near EVs and
recommends the closest charging station to EVs without
considering the waiting time for charging in charging stations.
SCWA recommends the charging station with the smallest
waiting time for users by obtaining data on EVs waiting to be
charged in charging stations, without taking into account the
journey time. The OCA combines the advantages of NCA and
SCWA, and adds an appointment charging strategy to ensure
that the charging station with the smallest charging cost is
recommended to the user.
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( c ) Comparison of total cost of 60 charging stations
Fig.6. Comparison of total charging cost of different number of charging
stations
When the number of charging stations is 30, according to
the comparison of simulation results, it can be found that the
charging cost of the optimal charging station is the least, 83.1%
of the algorithm for the shortest waiting time and 61.7% of the
algorithm for the nearest charging station. When the number of
charging stations is 45, the charging cost of the optimal
charging station is 71.6% of the algorithm for the shortest
waiting time and 37.4% of the algorithm for the nearest
charging station. When the number of charging stations is 60,
the charging cost of the optimal charging station is 78.9% of
the algorithm of the shortest waiting time and 58.3% of the
algorithm of the nearest charging station.
According to the simulation results, it can be concluded
that the algorithm of finding the optimal charging station based
on the spanning tree model in the IoT environment can
recommend the charging station with the minimum charging
cost and save the users’ charging cost to the greatest extent.
VI. CONCLUSION
The method for finding the optimal charging station in the
IoT environment based on the spanning tree algorithm, comes
from the user side demand. It can recommend the location of
the most time-saving charging station to reserve for EVs, and
also achieve the role of balancing the load of each charging
station. Next, based on the original idea, the algorithm will
combine charging power, charging cost and charging time to
optimize the algorithm of finding the charging station, so as to
achieve the goal of further serving users and balancing the load
of charging station.
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