Balancing Cost and Dissatisfaction in Online EV Charging under Real-time Pricing

We consider an increasingly popular demand-response scenario where a user schedules the flexible electric vehicle (EV) charging load in response to real-time electricity prices. The objective is to minimize the total charging cost with user dissatisfaction taken into account. We focus on the online setting where neither accurate prediction nor distribution of future real-time prices is available to the user when making irrevocable charging decision in each time slot. The emphasis on considering user dissatisfaction and achieving optimal competitive ratio differentiates our work from existing ones and makes our study uniquely challenging. Our key contribution is two simple online algorithms with the best possible competitive ratio among all deterministic algorithms. The optimal competitive ratio is upper-bounded by $\displaystyle \min\{\sqrt{\alpha/p_{\min}},\ p_{\max}/p_{\min}\}$ and the bound is asymptotically tight with respect to $\alpha$, where $p_{\max}$ and $p_{\min}$ are the upper and lower bounds of real-time prices and $\alpha \geq p_{\min}$ captures the consideration of user dissatisfaction. The bounds under small and large values of $\alpha$ suggest the fundamental difference of the problems with and without considering user dissatisfaction. Simulation results based on real-world traces corroborate our theoretical findings and show that the empirical performance of our algorithms can be substantially better than its theoretical worst-case guarantee. Moreover, our algorithms achieve large performance gains as compared to conceivable alternatives. The results also suggest that increasing EV charging rate limit decreases overall cost almost linearly.