I. Introduction
Over the past few years, electric vehicles (EVs) have gained considerable interest and brought unprecedented opportunities and challenges for our daily lives, while playing an important role in bringing convenience and reducing pollution in transportation areas. In the US, the average cost to fuel a vehicle with a regular-grade gasoline is 2.85 while the cost of an electric eGallon is 1.16, and a single EV will produce annually an average of 3,774 pounds of CO2 equivalent compared to 11,435 pounds produced by a conventional gasoline vehicle [1]. Compared with gasoline vehicles, EVs are more economical and environmentally friendly owing to the cheaper electricity price and reduced greenhouse gas emissions [2], which are expected to take a prominent role in the future transportation system. Meanwhile, with the rapid development and expansion of EV industry and market in recent years, more and more charging stations and the corresponding infrastructures need to be deployed in order to satisfy the huge demand for charging of EVs. According to the Internation Energy Agency (IEA), the share of EVs in the global automobile market will surge from only 3 currently to 12 by 2030 [3]. There is also a prediction that the number of EVs in use is expected to grow from 3 million to 125 million by 2030 [4]. EVs are seen as an important component for the future intelligent energy grid [5]. Therefore, it has become increasingly crucial to provide better charging services while efficiently promoting the corresponding technology development.