I think that will end up requiring both a social tweak and an infrastructure one. Once people are comfortable with the concept of an electric car, it will be only natural to start requesting (and the necessary civil authorities adding) charging ports in standard parking areas.
Imagine in NYC, a parking meter that also has a charging plug for the car. Raise the meter's rate just a bit and you can cover both the electricity and install costs.
If you didn't even have to plug it in, just drive it to work, park it, drive it home, park it and it could charge automagically in both parking spots - its much more convenient than petroleum and would potentially be a big plus FOR getting an EV.
1 - http://software.intel.com/en-us/videos/channel/general/wirel...
Plugging in at home is already more convenient than petroleum.
It seems like using 40% more energy to charge your car is an inefficient way to avoid plugging in. Project Better Place is already working on robotic plugs that plug themselves in.
Perhaps self-driving cars are a solution: if the self-driving EV you're in runs out of power, you just jump out and grab another one. The transportation company worries about charging it.
Spending an extra hour per year at a Tesla SuperCharger represents a huge time-saver for me, and likely for the vast majority of folks who are complaining about it.
I'm not sure if you have to pay for it, but I've certainly seen people use them.