A computer-readable medium storing instructions that, when executed by a computer in a vehicle, cause the computer to carry out a method for determining an energy-optimal path for the vehicle from an initial location to a final location, the vehicle corresponding to a vehicle energy model. Based at least on the initial location, an initial time, the final location, the vehicle energy model, and an environmental forecast a global path is generated. The global path includes a final maximum net energy path and a plurality of waypoints. Based on the global path a local path from the present location to a next waypoint of the plurality of waypoints is generated. Whether a net energy gain is generated by a deviation from the global path to the next waypoint of the plurality of waypoints is determined. Generating a local path is repeated until the vehicle reaches the final location.