Network equilibrium models with battery electric vehicles

•Network equilibrium models for battery electric vehicles with limited driving ranges.•Drivers select routes and decide battery recharging plans to minimize their trip times.•Flow dependency of energy consumption and recharging time are considered.•Solution algorithms that avoid path enumeration are proposed.

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.