 Research
 Open access
 Published:
Optimal joint operation of coupled transportation and power distribution urban networks
Energy Informatics volumeÂ 5, ArticleÂ number:Â 35 (2022)
Abstract
The number of Electric Vehicles (EVs) and consequently their penetration level into urban society is increasing which has imperatively reinforced the need for a joint stochastic operational planning of Transportation Network (TN) and Power Distribution Network (PDN). This paper solves a stochastic multiagent simulationbased model with the objective of minimizing the total cost of interdependent TN and PDN systems. Capturing the temporally dynamic interdependencies between the coupled networks, an equilibrium solution results in optimized system cost. In addition, the impact of largescale EV integration into the PDN is assessed through the mutual coupling of both networks by solving the optimization problems, i.e., optimal EV routing using traffic assignment problem and optimal power flow using branch flow model. Previous works in the area of joint operation of TN and PDN networks fall short in considering the timevarying and dynamic nature of all effective parameters in the coupled TN and PDN system. In this paper, a Dynamic User Equilibrium (DUE) network model is proposed to capture the optimal traffic distribution in TN as well as optimal power flow in PDN. A modified IEEE 30 bus system is adapted to a low voltage power network to examine the EV charging impact on the power grid. Our case study demonstrates the enhanced operation of the joint networks incorporating heterogeneous EV characteristics such as battery State of Charge (SoC), charging requests as well as PDN networkâ€™s marginal prices. The results of our simulations show how solving our defined coupled optimization problem reduces the total cost of the defined case study by 36% compared to the baseline scenario. The results also show a 45% improvement on the maximum EV penetration level with only minimal voltage deviation (less than 0.3%).
Introduction
Electric Vehicles (EVs) are a promising solution to reduce greenhouse gas emissions and the reliance on fossil fuels (Electric Power Research Institute 2007). EVs use electricity instead of burning fossil fuels and rely on a grid power infrastructure for the charging of their batteries. The increasing penetration of EVsÂ (IEA 2021) in the Transportation Network (TN) comes with important loads affecting the Power Distribution Networks (PDN)Â (Clement etÂ al. 2009). In other words, meaningful parts of the needs of the transportation network that were traditionally served by gas stations are now moving to the power network. The fact that such load is mobile, that is, a car can and will charge at different points of the power network, poses additional challenges to the infrastructure. This is especially true of urban networks where there is a high density of population and, consequently, large use of transportation and power infrastructures.
There are two main challenges that EVs impose on the power grid. First, due to the uncontrolled charging schedules of the EV users, the power load might increase during peak hours. This can be a source of grid stress and consequent failure due to factors such as voltage instability and power losses. Therefore, a rapidly growing EV market would need additional investment in grid infrastructure to decrease the risk of grid overload. Second, due to the power capacity constraints, the charging stations may not be able to fulfill all EV charging requests. In addition, the optimal installation of rapid chargers is expensive and the lack of incentives on smart charging behavior defer users to make the switch to EVs. Thus, appropriate EV routing along TN network and charging scheduling can mitigate the adverse impacts of EV charging on PDN network, as well as prevent potential traffic congestion in the TN network.
A way of looking at this current trend is to realize that the transportation and power urban infrastructures are becoming increasingly correlated, and therefore their operation should be optimized jointly. The challenge for such optimization is due to the nature of EVs. In fact, these are distributed mobile energy consumers whose energy demand behavior is highly influenced by multiple factors including the State of Charge (SoC) of the EV Battery, the type and capacity of the battery, the average travel distance, traffic, distance to the charging stations, and charging duration with charge preferencesÂ (Wu etÂ al. 2018). While residential EV charging demand is fairly predictable in nature, as the average userâ€™s driving pattern can be identified with reasonable accuracy, the public EV recharging behavior is stochastic and difficult to predict as they are influenced by erratic traffic flow.
These interactions between TN and PDN networks, exemplified in Fig.Â 1, pose a complex problem to the management of the power systemÂ (Wei etÂ al. 2019; Marmaras etÂ al. 2017).
The present work contains a proposal for an optimal transportationpower network model to study the impact of variable traffic flow and congestion scenarios on power distribution loads. The operation of coupled TN and PDN networks with the objective of minimizing costs is formulated as an optimization problem. Obviously, the interconnected systemâ€™s load capability constraints are taken into account in the developed model. Integrating traffic flow information with the queuing theory, our methodology achieves equilibrium traffic flow to minimize the impact on the PDN. Ultimately, the aim is to minimize the social costs mutual to both TN and PDN networks.
Each EV in a TN is defined by multiple parameters including driver behavioral profiles, traffic elements, OriginDestination (OD) points, trip travel time, energy consumption, EV battery capacity, and battery SoC. These parameters are identified based on stochastic travel behavior and traffic flow. The fundamental Wardrop principleÂ (Wardrop 1952) is used to estimate the distribution of EV flows in the TN which leads to a stable equilibrium of trafficflow pattern known as Dynamic User Equilibrium (DUE) in Dynamic Traffic Assignment (DTA) setup. The DUE model can be computationally very expensive as it enumerates all possible paths in the OD pairsÂ (Janson 1991). The DTA model was developed to generate approximate solutions to DUE which can be applied to larger networksÂ (Janson 1991). We utilize the SemiDynamic Traffic Assignment (SDTA) model which has lower computational complexity. The mobility and charging demand of EV users are assessed using traffic elements. Finally, by modeling both TN and PDN networks independently and then linking them with coupling constraints, optimized trafficconstrained transportation power flow solution is developed.
Several research works have proposed individual operational methodologies and optimization techniques to ensure secure operation under peak demands when EVs are connected to the power grid, e.g.,Â (DiazCachinero etÂ al. 2021; Spitzer etÂ al. 2019). However, to the best of our knowledge, a model considering the coupling of the interdependent TN and PDN networks which considers the timevarying, dynamic nature of all the parameters in their spatial temporal variations has not been studied.
A bottomup approach is used to model the characteristics of individual EV driving and charging behavior creating a unique load profile for each scenario. However, the energy consumption of EVs at charging stations is accumulated over time periods to ascertain the electrical impact on the power grid. We resort to quantitative techniques with an agentbased simulation method coupled with MATLAB for power flow analysis. The mobility model is realized in the JAVA Agent Development Framework (JADF) and power flow model calculations are done with MATLAB using a standard radial distribution network. In addition, the ACNDataset is used for public EV charging to have realistic charging information (https://ev.caltech.edu/dataset). Our proposed methodology takes a unique interdisciplinary approach by finding the interrelations between TN and PDN by combining a multiagent system framework into the TN with traffic information. We evaluate the feasibility and achievable improvements of our proposed approach using the most used IEEE test systems. In our case study, the interactions between EV users are captured in a semirealistic distributed environment.
In summary, the main contributions of our research work are as follows:

The formulation of an optimization problem to minimize the total system cost of interdependent TN and PDN networks in a dynamic setting by analysing EV driving behavior profiles and energy prices.

An integrated agentbased traffic assignment model for TN impact analysis and its cascading effect on power systems. Through our unique Agent Based Modeling (ABM), EV driving behavioral data samples are collected and energy requirements at charging stations are identified as loads connected to the power network bus nodes. The collected load profiles of EV charging load for a 24h period are used to analyze the impact on PDN. This approach is a unique simulationbased optimization of coupled networks.

The dynamics of largescale EV penetration in an overlaid distribution and transportation network system are part of the model. As traffic behavior changes, variable load distributions in terms of the EV charging process are used.

The development of an approach to achieve optimal route selection to nearby charging stations which eliminates the need for long waiting periods at public charging spots thereby reducing the load curve. A controlled smartcharging technique is also applied to reduce voltage problems that may arise in the distribution network due to multiple EVs recharging at the same time.
The rest of the paper is organized as follows. SectionÂ Related work contains a discussion of related work. SectionÂ Problem formulation presents the formulation of the optimization problem of TN and PDN models and introduces the approach for solving the problem. A case study based on a small region of the urban TN and its interdependent impacts on the PDN is illustrated in Case study and simulation results section. Finally, a summary of the contribution and a discussion of future work in the area of EV mobility in interconnected TN and PDN networks are drawn in Conclusions section.
Related work
There are many previous papers on modeling coupled TN and PDN networks as well as EV integration into the power grid. Marmaras et al. used an integrated simulationbased approach to model road traffic and EV battery chargingÂ (Marmaras etÂ al. 2017). The main focus of Marmaras etÂ al. (2017) is on the EV agentâ€™s characteristics and behavioral modeling rather than the interrelation between TN and PDN. In most of the previous works on TN modeling, the Bureau of Public Roads (BPR) functionÂ (United States. Bureau of Public Roads 1964) is used to calculate the cost function of travel time which is quadratic in nature, however, in this paper, the Davidsonâ€™s functionÂ (Davidson 1966) with queuing analysis has been used due to its linear properties.
The current state of the art in optimal operation of the interdependent transportationpower network system is based on graph network approaches where nodes and edges represent the interlinking elements. In addition, simple static traffic models without dynamic user equilibrium conditions have been used for traffic flow modeling. Tang et al. have discussed spatial and temporal impacts of EVs on traffic systems using a probabilistic model of expected nodal EV charging demand based on parking eventsÂ (Tang and Wang 2016). Graph theory along with Dijkstraâ€™s algorithm is employed in Tang and Wang (2016) to calculate energy consumption based on trip distance. However, the model is generic with macroscopic characteristics taken into account without any coordinated charging events between EV users. Wei et al. presented a a dedicated traffic user equilibrium model to describe the steadystate distribution of traffic flows comprised of gasoline vehicles and electric vehiclesÂ (Wei etÂ al. 2017). In that study, the impact of individual driving behaviors on the power grid has not been modeled.
Geng et al. have developed an integrated system of â€śvehicletrafficdistributionâ€ť and solved the spatialtemporal distribution of EV charging load using OD matrix.
Geng et al. proposed a hybrid optimisation method using stochastic user equilibrium and information gap decision theory to study the impact of the uncertainties on the coordinated Electrified Transportation Network (ETN)PDN operationÂ (Geng etÂ al. 2021). ETN enables the integration of EVs into an efficient PDN infrastructure with an emphasis on usage of renewable energies. A similar approach has been presented in Xiang etÂ al. (2018) which utilizes cellular automata in an integrated trafficpower simulation framework to evaluate the feasibility of EV charging stations deployments without actually quantifying the impact on coupled TN and PDN.
The research on the interconnection between TN and PDN is still in its evolving phase. Only a few interdisciplinary studies have been made on the stochastic spatialtemporal electrical energy and mobility behavior of electric vehicles considering the dynamic activity of both networks. The studies made by Xie etÂ al. (2021); Wei etÂ al. (2016) and Jiang etÂ al. (2018), aim at minimizing the total cost of both TN and PDN networks, but without considering the timevarying dynamics of the transportation traffic network. The static traffic Assignment model has been used which gives a coarse overview of traffic flows. In addition, the constraints associated with EVsâ€™ charging load at charging stations are not explicitly modeled.
All the abovementioned works have considered the spatialtemporal behavior of electricity and vehicle traffic demands with static charging loads and/or static transportation traffic. To the best of our knowledge, the present treatment is the first work that considers the timevarying and dynamic nature of all the effective parameters in spatialtemporal variations to the coupled TN and PDN networks.
Problem formulation
The formulation of the models of both TN and PDN networks, the optimization problem, and the coupled transportation and distribution networks subject to their specific constraints are presented next. The interactions between EVsâ€™ charging impact on the PDN are central to the formulation. The idea is to make conjunction between the two generally independent networks and formulate an optimal operation that aims at minimizing total costs.
It is also possible to model the whole system using the weighted sum approach to merge multiple objectives into a singular objective function. However it results in multiple ParetoOptimal solutions and the solver might encounter difficulties in convergence which results in suboptimal solution (Watanabe and Sakakibara 2005). In addition, using multiobjective solvers to find global optimal solution is much higher time consuming. Therefore, in this work, the TN and PDN networks are modeled individually and then coupled by coupling constraints.
Table 1 lists the key notations used throughout this paper, in order of their presence in the text.
Modelling the transportation network
The topological structure of the transportation traffic network is a connected Graph G(V,Â E) where each node \(v \in V\) is an endpoint (either origin or destination) or an intersection of multiple road sections. These endpoints can be origin or destination nodes and their links have associated costs that represent the travel time for EV users.
Each EV inside the transportation network leaves from its origin s and travels to its destination d. Let \(\vartheta _{e,t}\) stand for the traffic flow on link \(e \in E\) generated by the traffic demand of OD pairs (s,Â d) connected by subset of nodes in V during time period t. The latency function \(\tau _{e}(t)\) calculates the time to travel on link e during time period t, as a function of aggregated traffic flow.
Each EV user aims to minimize its travel time on the traffic roadways. Therefore, the optimization problem of TN as the minimization of the travel time and the associated energy cost during a charging event for aggregated EVs at a charging station, subject to a set of system constraints is formulated. In this paper, this optimization problem \(C_{TN}\) is defined as follows:
where w, \(X^{cg}_{e,t}\), and \(G_{ch}^{\{ev\}}\) stand for the estimated cost of travel in Euros, traffic congestion cost index on link e, and aggregated charging cost of all EVs at charging station ch, respectively. Therefore, the first term of the objective function refers to the total travel cost associated with traffic flow for all EVs including travel and traffic congestion costs.
The parameter \(\tau ^0_e\) refers to the travel time on link e in free flow. \(cap_e\) and \(\alpha\) in Eq.Â (1.a) represent the capacity of link e and the coefficient for real traffic observation parameter in Davidson functionÂ (Davidson 1966), respectively. In this work, the Davidsonâ€™s function is used as it is linear and it is easy to fit to actual traffic data.
The variables \(C^{\{ev\}}_{ch}\), \(P^{ev}_{ch}\), and \(\pi _{j}(t)\) in (1.b) show the charging cost of all EVs at the charging station ch, the charging power rate of unit traffic flow in the network, and the Locational Marginal Price (LMP) connected to bus j during time period t, respectively.
In (1.c), \(C^{sd}_{p,t}\) denotes the travel cost on path p in OD pair (s,Â d) during time t and the decision variable \(\psi _p\) shows whether the path p is chosen or not. In addition, \(C^{\{ev\}}_{ch}*\tau _{e}(t)\) denotes the aggregated link traveltime and charging cost at charging station ch. The parameter \(T^{sd}_{p,t}\) is the travel time on path p between the OD pair (s,Â d) in the constraint expressed by Eq.Â (1.d).
The fifth constraint EquationÂ (1.e) satisfies flow conservation for all residual traffic flow in the OD pair (s,Â d) from the current to previous time periodâ€™s traffic demand wrt. congestion index and added to the current traffic demand \(\eta _{sd}(t)\). The parameter \(f^{sd}_{p,t}\) is the traffic flow on path p between the OD pair (s,Â d). The constraint expressed by Eq.Â (1.f) ensures that the traffic flow on link e during time period t is the sum of all possible taken routes or paths through each link during time period t.
As the number of EVs grows, the charging demand grows significantly which adds several more constraints (Eqs.Â 1.gâ€“1.i). EquationÂ (1.g) guarantees that the charging rate is less than the maximum charging rate of an EV. EquationÂ (1.h) ensures that the charged quantity (kWh) is less than the maximum vehicle battery capacity. EquationÂ (1.i) states that the sum of all EV charging instances \(P^{ev}_{{ch},k}\) must be less than or equal to the total charging capacity of the charging station. \(Cap_{ch}\), \(l_{ch}\), and \(N_{ch}\) stand for the number of charging stations, the load that can be handled, and the power efficiency factor of station ch, respectively.
Finally, the aggregated charging cost \(G_{ch}^{\{ev\}}\) for all EVs at each charging station ch is calculated based on the charging power of each EV and the electric charging cost at the charging station connected to a bus in the PDN. Given the charging price \(\pi _{ch}\) at charging station ch and EVsâ€™ charging energy \(A_{ch}^{\{ev\}}\), the function \(G_{ch}^{\{ev\}}\) estimates the charging cost. Summing up all the charging instances for each vehicle considering traffic flow on link e connected to the charging pile k at the charging station ch multiplied by the amount of energy it requires to be recharged, gives us the total aggregated charging cost. Formally,
The optimization variables in optimization problem presented in Eq. (1) are \(\psi _{p}\), \(\psi _{e,p}\), and \(A_{ch}^{\{ev\}}\) that need to be optimized to achieve the objective of minimizing the travel time cost and associated cost of energy during a predefined period of time, under defined constraints.
Modelling the power distribution network
Power distribution networks usually take the shape of a radial or mesh graphÂ (Pagani and Aiello 2011). These can be represented as an undirected graph G(M,Â B), where M shows the set of buses and B denotes the set of branches or power distribution lines. In this definition, a slack bus is indexed as O and the busbus pair i,Â j is used to denote a link between bus i to bus j. If a generator is connected to a bus node \(i \in M\), then its corresponding electric power demand or bus injection power is set to 1.
The voltage and power loss are contributing factors that determine the safe operation of a Direct Current Optimal Power Flow (DCOPF) modelÂ (Eldridge etÂ al. 2017). However, DCOPF power flow equations are not suited for the distribution systems because of high voltage fluctuations and power losses that are higher than in transmission systems. DCOPF solutions also may not satisfy all nonlinear power equations. To stabilize the voltage magnitudes, reactive power must be injected into the system. In addition, these defects can decrease the scalability of these solutions for bigger networks.
Concerning the abovementioned issues, convex relaxations of AC power flow equations have been adopted via a Second Order Cone Programming (SOCP)Â (Baradar etÂ al. 2013). In general, solving AC Optimal Power Flow (ACOPF) problems through convex relaxations provides a feasible way to obtain a globally optimal solution. If the solution is not achievable, a lower bound on the objective function is provided by solving the OPF. ACOPF problems are NPhardÂ (Lehmann etÂ al. 2015; Bienstock 2019), however, relaxations on ACOPF can lead to convex optimization problems which can be computed in practice.
An Optimal Power Flow (OPF) problem is defined as the power flow problem combined with the Economic Dispatch (ED) problem. As the standard power flow problem does not consider power generation costs, the ED problem is used to minimize the operating cost which mainly includes fuel costs of a power distribution network. During each time period t, branch flow equations are iterated to calculate power flows. As some constraints in the optimization problem are nonlinear, the SOCP technique for OPF is utilized to relax and transform the problem into a convex optimization problem and finally be able to solve it. This ensures that the problem can be solved in polynomial time and makes it tractable.
Our approach to formulate the power flow equations and relaxations are similar to the ones presented in several related works, namelyÂ (Eldridge etÂ al. 2017; Gan etÂ al. 2014; Low 2014). It is assumed that there is a distribution network operator in the smart grid who manages the operations of the PDN.
The operational energy production cost of the PDN (\(C_{PDN}\)) is formulated as:
where the first term in the equation includes the costs (convex cost function) for loads connected to the demand bus node j and the second term represents the cost of energy purchased from the main power grid during time period t.
Average power generated and demanded at bus j during time period t are denoted by \(p_{j}^{gen}(t)\) and \(p_{j}^{dem}(t)\), respectively. The parameters \(\lambda _{j}\), \(\pi _{cs}(t)\) and \(\Gamma _{c}(t)\) stand for the set of buses towards the end of the distribution line starting from bus j, the coefficient of energy production cost during time period t and the price of energy from the main grid, respectively. Variable \(\Phi _j\) denotes the cost of generating power from bus j. It is assumed that the energy consumption is charged by the operator using LMP which is usually a fixed contract price in a region.
The constraints of Eqs.Â (3.a) andÂ (3.b) guarantee the nodal active power balance and reactive power balance of the network. EquationÂ (3.c) ensures Ohmâ€™s law of voltage drop on branch \(\{i,j\}\) and Eq.Â (3.d) denotes the SOCP relaxation applied to nodal active and reactive power. Finally, Eqs.Â (3.e) andÂ (3.f) put upper/lower bounds on current and voltage limits as well as generator output, respectively. Other parameters used in Eqs.Â (3.a)â€“(3.f) are defined in TableÂ 1.
The optimization variables in optimization problem presented in Eq. (3) are \(p^{gen}_j(t)\), \(P_{jk}(t)\), and \(Q_{jk}(t)\) that need to be optimized to achieve the objective of minimizing the power generation cost during a predefined period of time, based on EVsâ€™ charging demand and under defined constraints.
Modelling the coupled TN and PDN
The final aspect for the formulation of the optimization problem is defining the relation between the traffic and the power networks. An example is depicted in Fig.Â 1. The connections between the charging stations and the power network are shown in dotted lines. To analyze the impact of EV penetration in the power grid, the spatial and temporal EV mobility is considered. As EVs move, their battery charge decreases with time which initiates the charging necessity. As the charging stations in TN draw load from the PDN, charging EVsâ€™ battery impacts the load of the TN on the buses of the power distribution network. Therefore, assuming that one bus is connected to one generator, the total power demand at bus i is calculated as the sum of regular power demand at the bus and aggregated EVsâ€™ charging at the charging station.
It is assumed that the energy consumption at link e of TN network is a linear function of the traffic flowÂ (Wei etÂ al. 2016). Thus, the link between TN and PDN is formulated by Eq.Â (3.g). In addition, to model the coupling optimization problem, three more constraints are defined for the optimization problem defined in Eq.Â (1).
where \(p^{dem}_{i}(t)\) and \(p^{r}_{i}(t)\) stand for the total power demand and regular power demand at bus i during time period t, respectively.
The parameter \(\Psi\) shows the unit traffic flow charging demand rate, which can be determined from realworld traffic data. This parameter is estimated on the basis of the EV penetration level or current EV charging rate on the given network. The higher the level of EV penetration, the greater will be the charging rate parameter. Finally, Eq.Â (3.g) establishes that nodal electric power demand is equal to regular power demand and EV charging demand. The parameter \(\vartheta _{e,t}\) shows the traffic flow through link e, where e belongs to the set of links connected to bus \(i \in M\) (S(i)).
EquationÂ (3.h) ensures that the charging capacity \(Cap_k\) of the charging pile k is equal to the linksâ€™ charging demand. In this constraint, the connection of the charging station pile k with bus node j is denoted by \(\vartheta _{e,j,k}\) and the changing energy is presented by \(A^{ev}_{ch}\).
Optimal transportationpower network flow model
In a coupled system of TN and PDN networks, when EVs recharge their batteries at charging stations, the required energy is provided by PDN. In this paper, the defined objective of the coupled system is to minimize total costs. To achieve this, it is assumed that there exists an independent system operator who manages both the TN and PDN networks. It aims to minimize the total costs of both interdependent systems.
In additions, the fundamental Wardrops PrincipleÂ (Wardrop 1952) is adopted in generalized format to solve the traffic assignment problem. Taking into consideration both the networks, the optimization problem in Eq.Â (1) is updated to the following coupled formulation:
Case study and simulation results
The OTPNF (Eq.Â 4) is a mixed integer convex optimization problem that can be solved, e.g., through commercial solvers such as IPOPT, CONOPT, and COUENNE(convex over and under envelopes for nonlinear estimation) solver (Couenne 2006). Given the constraints of the models, one can assume the optimization problem to be convex. In fact, after relaxing the nonlinear constraints and convexifying the objective function, the convex Mixed Integer Nonlinear Problem (MINLP) is solved using the Couenne solverÂ (Couenne 2006) and AMPLÂ (https://ampl.com/products/solvers/allsolversforampl/), which apart from handling convex MINLPs can also solve nonconvex MINLPs. Global optimality is guaranteed for the Couenne solver, while it is not for other solvers. This is because Couenne implements linearization, bound reduction, and branching using branchbound algorithm, therefore it can find the best solution or global optimum solution without interruption.
These tools are used for the evaluation of the cost reduction achieved by solving the proposed optimization problem compared to the baseline scenario. As a case study, the IEEE 30bus power system test case with two connected charging stations CS1 and CS2 is used, as shown in Fig.Â 2. To validate the feasibility of our chosen method and analyse the effects of cascading line failures due to the EV charging load, the comparison with a standard power system is necessary. The IEEE standard test systems represent real systems and has been used in most of the similar works, in turn helping to compare the resultsÂ (Xie etÂ al. 2021; Sun etÂ al. 2019). The radial power system topology allows us to evaluate multiple EV flees power demand and discharge scenarios where links are serviced by an electrical bus. Links between nodes 7 and 16 serve as the main conjunction for the PDN. The charging station CS1 is placed at the conjunction of the main road connecting to bus node 7 in the distribution network and CS2 is placed at the branch node of Bus 16 which is located within the OD pair of the given transportation network.
Optimization results for the coupled TN and PDN
In this paper, the OTPNF optimization problem is solved using the Couenne Solver and AMPL code. For the ACOPF and DCOPF models, piecewise linear generator costs are considered. The results of this evaluation are presented in TableÂ 2 as the TN and PDN costs along with their formulation methods. The OTPNF formulation found a locally feasible optimal solution with an optimal cost of 5470.67 Euros/h. In addition, as the results in TableÂ 2 show, the OTPNF model decreases the operating costs of both the TN and PDN networks when the stochastic dynamic user equilibrium traffic assignment formulation is used along with OPF. The optimal system cost due to our optimization formulation (OTPNF) resulted in 5470.67 Euros/h whereas the aggregated cost of the individual networks would have been 8604.67 Euros/h. Therefore, the cost savings is calculated as 36.42%, when compared to the aggregated cost of individual baseline scenarios (without the coupling constraints).
The achieved improvement is due to the nonexistence of nodal electric power demand according to linksâ€™ charging demand for each EV connected to the charging pile, when modeled with individual notcoupled models. The additional coupling constraints ensures that the operational cost is within boundaries of the amount of energy to be charged by all EVs at the charging station which are connected to the bus nodes.
Evaluating the maximum EV penetration level based on our approach
With the given EV penetration level, the PDN network aims to handle as many charging requests as possible. Therefore, supporting the maximum number of EV charging demands without violating grid constraints and operational efficacy is a representative evaluation metric. The EV charging behavior is controlled by the EV owner or dispatcher unit from the grid. The optimization problem is modeled to find the largest EV adoption based on the maximum load from the charging stations and electricity drawn from the main grid.
where \({\mathcal {L}}_{v}\) is the function determining the PDN flow load. The binary variable \(N^{ch}_{b}\) is set to 1 if charger b is connected to charging station ch otherwise is set to 0. The objective function maximizes the number of EV charging requests, respecting the distribution network constraints. The above problem is a mixedinteger nonlinear model. By translating the problem into a running program for Couenne, an improvement of 45% for EV penetration level is achieved that can support charging demand without negative impact on the grid. Voltage magnitudes deviate between 0.1 and 0.3%. An amount absolutely acceptable by the infrastructure and would not cause power failure issues.
Evaluating the network congestion of the coupled networks
A sample network with 30 zones and 30 links having 552 OD pairs and 76 path links has been used in the simulations. In these simulations, the traffic flow is assumed to be 100 vehicles/h. The cascading effect of transportation traffic flow on the PDN network is shown in Fig.Â 3. This figure represents the voltage magnitude heatmap showing areas where nodes suffer from high EV charging demand.
The congestion index of TN is based on data from user equilibrium traffic flow by dividing the link capacity to the traffic flow. The traffic flow affects the power demand to the PDN and loading capacity. The congestion level of PDN is high at bus numbers 16 and 6 during the morning peak hours (7â€“9 am) and evening peak hours (5â€“7 pm). Bus 16 in our network provides a charging link where charging piles are present to support multiple incoming EVs. At this node, the voltage magnitude is low due to the high EV charging demand. In this simulation, the lower and upper bound of voltage magnitude are assumed to be 0.91 and 1.05, respectively. FigureÂ 4 shows the PDN under EVs load, before and after optimization.
Evaluating user equilibrium traffic condition metrics
The results of the equilibrium travel time and traffic flow for our simulated case study are presented in TableÂ 3. The user equilibrium travel time \((UE\_travelTime)\) is measured in vehicleminutes and user equilibrium traffic flow \((UE\_Flow)\) is measured in number of vehicles per hour. The congestion factor is calculated as the ratio of \((UE\_Flow)\) and the capacity of the road. A higher congestion intensity increases the travel time on the network, depending on the number of travelling vehicles. Congestion is minimized when agents are informed of alternative routes prior to reaching their destination. Ideally, lower congestion factor is preferred as it results in less aggregation of EVs at charging stations and ultimately leads to less stress on the PDN network.
Discussion
In Case study and simulation results section, the proposed system model for coupled TN and PDN networks was evaluated and compared with the baseline scenario. In addition, the maximum EV penetration level and the network congestion of the coupled networks were examined. The results presented in TableÂ 2 indicate that our OTPNF model with DUE network model is able to find an optimal solution with a significantly lower cost compared to the combined TN and PDN networks (36% saving in total cost). Therefore, this model framework can potentially be adopted to formulate traffic flow distributions with temporallycoupled network operations. In addition, the results on the maximum EV penetration level show a 45% improvement on the charging demand support without negative impact on the grid, imposing a voltage deviate less than 0.3% which is acceptable by the infrastructure and will not cause power failure.
In another experiment, the network congestion of the coupled networks is evaluated. The results of this experiment are presented in Figs.Â 3, 4, and TableÂ 3. TableÂ 3 shows the results of the equilibrium traffic conditions for our simulated use case. Arc links L7â€“L17 and L15â€“L16 suffer the highest congestion due to spontaneous EV charging activities and demand response of the charging infrastructure. Subsequently the load on the PDN increases due to multiple incoming EVs with charging demand. There is a significant voltage drop in Bus Nodes 7 and 16 which has a cascading impact on the other bus nodes as depicted in Fig.Â 3. In addition, The results in Fig.Â 4 show how voltage magnitude drop and its cascading impact alleviated after optimizing the network using our proposed model and solution.
As illustrated in Related work section, there are many papers focused on modeling coupled TN and PDN networks, however, the research on this topic is still in its initial phase and just a few stateoftheart studies have focused on EVsâ€™ stochastic electrical energy and mobility behavior. In this regard, Xie etÂ al. (2021); Wei etÂ al. (2016) and Jiang etÂ al. (2018) are the closest studies to the present work. They aim at minimizing the total cost. However, none of these works consider the timevarying dynamics of all the effective parameters. In addition, the constraints regarding the EVsâ€™ charging load at charging stations are not explicitly modeled. Our paper considers the timevarying and dynamic nature of all the effective parameters in spatiotemporal variations to the coupled TN and PDN networks. Finally, although our research study proposed a novel optimal transportationpower network flow model which dynamically optimizes the network infrastructures jointly, it has a limitation regarding the impact of coordinated charging of EVs on a larger network which could be studied in the future.
Conclusions
With the increasing adoption of EVs, the coupling of the transportation and power networks is tightening. In the present work, such coupling has been modeled and evaluated using a case study. The key contributions of this paper include: (1) the formulation of the optimization problem of minimizing the system costs of both TN and PDN networks; (2) the development of an optimization strategy to minimize the total costs, in a temporally dynamic setting; and (3) capturing the stochastic nature of traffic flows, change in electricity prices, and EV charging demands while satisfying the concept of dynamic equilibrium in a computationally low footprint. Our proposed model considers the timevarying, dynamic nature of all the parameters in their spatiotemporal variations, an approach that has not been studied before.
To achieve this, the following steps were followed: First, by analyzing EV mobility behavior in a defined TN region, the spatialtemporal variations on all nodes of the TN are captured to determine the charging load on PDN. Second, the traffic flow on various links in the TN is calculated to identify hot spots within the distribution network bus nodes which could cause instability to the power grid. Finally, smart charging is applied to minimize the charging load at public charging stations by distributing the load across various charging piles. Our optimization framework decreases the total costs of both TN and PDN networks by focusing on the impact of EVsâ€™ load on the TN overlaid with the PDN. The results of the simulations highlight that largescale EV penetration affects the optimal operation of PDN, which is solved using an optimal transportationpower network flow optimization model. In future work, we envision to improve the model by forecasting time varying traffic demands and electricity generation cost. In addition, evaluating the impact of renewable distributed generators integrated into the PDN together with the impact of random power output and power dispatch from EVs to the grid can also be considered. Finally, modeling the EVs not only as load but also as power storage for the balancing of the power system, can provide for new Smart Grid scenariosÂ (Malya etÂ al. 2021).
Abbreviations
 EV:

Electric vehicles
 TN:

Transportation network
 PDN:

Power distribution network
 SoC:

State of charge
 OD:

Origindestination
 DUE:

Dynamic user equilibrium
 DTA:

Dynamic traffic assignment
 SDTA:

Semidynamic traffic assignment
 JADF:

JAVA Agent Development Framework
 ABM:

Agent based modeling
 BPR:

Bureau of Public Roads
 LMP:

Locational marginal price
 DCOPF:

Direct current optimal power flow
 SOCP:

Second order cone programming
 ACOPF:

AC optimal power flow
 OPF:

Optimal power flow
 ED:

Economic dispatch
 MINLP:

Mixed integer nonlinear problem
References
Baradar M, Hesamzadeh MR, Ghandhari M (2013) Secondorder cone programming for optimal power flow in vsctype acdc grids. IEEE Trans Power Syst 28(4):4282â€“4291
Bienstock D (2019) Verma, a strong NPhardness of AC power flows feasibility. Oper Res Lett 47(6):494â€“501
Caltech: ACNData. https://ev.caltech.edu/dataset
Clement K, Haesen E, Driesen J (2009) Coordinated charging of multiple plugin hybrid electric vehicles in residential distribution grids. In: 2009 IEEE/PES Power Systems Conference and Exposition, pp. 1â€“7. IEEE
Couenne, an exact solver for nonconvex MINLPs. IBM and Carnegie Mellon University (2006)
Davidson K (1966) A flow travel time relationship for use in transportation planning. In: Australian Road Research Board (ARRB) Conference, 3rd, Sydney, vol. 3
DiazCachinero P, MuĂ±ozHernandez JI, Contreras J (2021) Integrated operational planning model, considering optimal delivery routing, incentives and electric vehicle aggregated demand management. Appl Energy 304:117698. https://doi.org/10.1016/j.apenergy.2021.117698
Eldridge B, Oâ€™Neill R, Castillo A (2017) An improved method for the dcopf with losses. IEEE Trans Power Syst 33(4):3779â€“3788
Electric Power Research Institute (2007) Environmental Assessment of PlugIn Hybrid Electric Vehicles. https://www.energy.gov/
Gan L, Li N, Topcu U, Low SH (2014) Exact convex relaxation of optimal power flow in radial networks. IEEE Trans Autom Control 60(1):72â€“87
Geng L, Lu Z, Guo X, Zhang J, Li X, He L (2021) Coordinated operation of coupled transportation and power distribution systems considering stochastic routing behaviour of electric vehicles and prediction error of travel demand. IET Gener Transm Distrib 15(14):2112â€“2126
IEA (2021) Trends and developments in electric vehicle markets. https://www.iea.org/reports/globalevoutlook2021/trendsanddevelopmentsinelectricvehiclemarkets
Janson BN (1991) Dynamic traffic assignment for urban road networks. Transp Res Part B Methodol 25(2â€“3):143â€“161
Jiang H, Zhang Y, Chen Y, Zhao C, Tan J (2018) Powertraffic coordinated operation for bipeak shaving and biramp smoothinga hierarchical datadriven approach. Appl Energy 229:756â€“766
Lehmann K, Grastien A, Van Hentenryck P (2015) ACfeasibility on tree networks is NPhard. IEEE Trans Power Syst 31(1):798â€“801
Low SH (2014) Convex relaxation of optimal power flowpart i: formulations and equivalence. IEEE Trans Control Netw Syst 1(1):15â€“27
Malya PP, Fiorini L, Rouhani M, Aiello M (2021) Electric vehicles as distribution grid batteries: a reality check. Energy Inf 4(2):29
Marmaras C, Xydas E, Cipcigan L (2017) Simulation of electric vehicle driver behaviour in road transport and electric power networks. Transp Res Part C Emerg Technol 80:239â€“256
Pagani GA, Aiello M (2011) Towards decentralization: a topological investigation of the medium and low voltage grids. IEEE Trans Smart Grid 2(3):538â€“547. https://doi.org/10.1109/TSG.2011.2147810
Spitzer M, Schlund J, ApostolakiIosifidou E, Pruckner M (2019) Optimized integration of electric vehicles in low voltage distribution grids. Energies. https://doi.org/10.3390/en12214059
Sun Y, Chen Z, Li Z, Tian W, Shahidehpour M (2019) Ev charging schedule in coupled constrained networks of transportation and power system. IEEE Trans Smart Grid 10(5):4706â€“4716. https://doi.org/10.1109/TSG.2018.2864258
Tang D, Wang P (2016) Nodal impact assessment and alleviation of moving electric vehicle loads: from traffic flow to power flow. IEEE Trans Power Syst 31(6):4231â€“4242
United States. Bureau of Public Roads (1964) Traffic Assignment Manual for Application with a Large, High Speed Computer vol. 2. US Department of Commerce
Various: ALL SOLVERS FOR AMPL. https://ampl.com/products/solvers/allsolversforampl/
Wardrop JG (1952) Road paper: some theoretical aspects of road traffic research. Proc Inst Civ Eng 1(3):325â€“362
Watanabe S, Sakakibara K (2005) Multiobjective approaches in a singleobjective optimization environment, pp. 1714â€“17212. https://doi.org/10.1109/CEC.2005.1554895
Wei W, Mei S, Wu L, Shahidehpour M, Fang Y (2016) Optimal trafficpower flow in urban electrified transportation networks. IEEE Trans Smart Grid 8(1):84â€“95
Wei W, Mei S, Wu L, Wang J, Fang Y (2016) Robust operation of distribution networks coupled with urban transportation infrastructures. IEEE Trans Power Syst 32(3):2118â€“2130
Wei W, Wu L, Wang J, Mei S (2017) Network equilibrium of coupled transportation and power distribution systems. IEEE Trans Smart Grid 9(6):6764â€“6779
Wei W, Danman W, Qiuwei W, ShafieKhah M, Catalao JP (2019) Interdependence between transportation system and power distribution system: a comprehensive review on models and applications. J Modern Power Syst Clean Energy 7(3):433â€“448
Wu Q, Shahidehpour M, Li C, Huang S, Wei W (2018) Transactive realtime electric vehicle charging management for commercial buildings with pv onsite generation. IEEE Trans Smart Grid 10(5):4939â€“4950
Xiang Y, Liu Z, Liu J, Liu Y, Gu C (2018) Integrated trafficpower simulation framework for electric vehicle charging stations based on cellular automaton. J Modern Power Syst Clean Energy 6(4):816â€“820
Xie S, Xu Y, Zheng X (2021) On dynamic network equilibrium of a coupled power and transportation network. IEEE Trans Smart Grid 13(2):1398â€“1411
Funding
Open Access funding enabled and organized by Projekt DEAL. The presented research is funded by the Netherlands Organisation for Scientific Research (NWO) in the framework of the IndoDutch Science Industry Collaboration programme with project NextGenSmart DC (629.002.102).
Author information
Authors and Affiliations
Contributions
KS and MA conceived of the presented idea. KS developed the theory and performed the computations. KH and MR verified the analytical methods. KS prepared the initial manuscript and KH helped to improve the writing and the structure. All authors discussed the results and contributed to the final manuscript.Â All authors read and approved the final manuscript.
Authorsâ€™ information
Kaushik Sadhu studied his M.Sc. degree in Computer Science at the Institute of Architecture of Application Systems (IAAS) of the University of Stuttgart.
Kawsar Haghshenas is a postdoctoral researcher in the Smart Energy Systems (SES) laboratory at the University of Stuttgart. She received her Ph.D. degree in Computer Science from University of Tehran in 2020, M.Sc. degree in Computer Engineering from Sharif University of Technology in 2014, and B.Sc. degree in Computer Engineering from K.N.Toosi University of Technology in 2012. She was visiting the Embedded Systems Laboratory (ESL) at EPFL University from 2017 to 2018. Her research interests include system level energy optimization, machine learning and workload scheduling in the area of datacenters and cloud computing.
Mohammad Hadi Rouhani is pursuing a master's degree in computing science at the University of Alberta, Canada. His research focuses on applications of machine learning and convex optimization in energy systems, queuing theory in electric vehicle charging behavior. He received his B.S. degree in Electrical Engineering (with honors) from Shiraz University, Shiraz, Iran.
Marco Aiello is professor of Computer Science and Head of the Service Computing Department at the University of Stuttgart, Germany. He is also an elected member of the European Academy of Sciences and Arts and honorary professor of Distributed Systems at the University of Groningen, The Netherlands, where he was a faculty member from 2006 till 2018. He holds a PhD in Logic from the University of Amsterdam, the Habilitation in Applied Informatics from TU Wien, and a master degree in Engineering from La Sapienza University of Rome. His research interests are in Service Computing, Smart Grids, Smart Energy Systems, and Data Centers.
Corresponding author
Ethics declarations
Competing interests
The authors declare that they have no competing interests.
Additional information
Publisherâ€™s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.
About this article
Cite this article
Sadhu, K., Haghshenas, K., Rouhani, M. et al. Optimal joint operation of coupled transportation and power distribution urban networks. Energy Inform 5, 35 (2022). https://doi.org/10.1186/s4216202200249w
Received:
Accepted:
Published:
DOI: https://doi.org/10.1186/s4216202200249w