Convoy driving, a specialized form of collaborative autonomous driving, offers a promising solution to the complex challenges faced on highways. While extensive research has been conducted on convoy driving, there is a notable lack of investigation into how long traveling in a convoy remains beneficial for a vehicle under various conditions. Additionally, one critical aspect that has been overlooked in the literature, is the willingness of individual vehicles to participate in convoy formations. Without explicit tangible benefits and incentives, vehicles may not readily embrace this paradigm shift. In this research, a coalitional game framework is proposed to model the convoy driving problem and address the aforementioned challenges. A novel multi-objective utility function is introduced, encompassing benefits and incentives such as reduced fuel consumption, shorter travel time, and toll discounts to encourage vehicle participation in convoys on highways. Experimental findings indicate that the optimal duration for a vehicle to remain in a convoy on a highway ranges from 45 to 75 min when traveling in a coalition of six vehicles at 120 km/h. Beyond this period, the utility gradually declines, suggesting that spending more time in the convoy may lead to diminishing returns or decreased utility for the vehicles.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Autonomous Convoy Driving—A Coalitional Game Framework for Highway


    Additional title:

    SN COMPUT. SCI.


    Contributors:

    Published in:

    Publication date :

    2025-01-22




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Evaluation of semi-autonomous convoy driving

    Davis, J. / Animashaun, A. / Schoenherr, E. et al. | British Library Online Contents | 2008


    Autonomous vehicle convoy communications

    HARVEY THOMAS DANAHER | European Patent Office | 2019

    Free access

    Driving vehicles in convoy

    CALMETTES THIBAUD / MONNERAT MICHEL / SERANT DAMIEN | European Patent Office | 2017

    Free access


    Autonomous Vehicle Convoy Communications

    HARVEY THOMAS DANAHER | European Patent Office | 2018

    Free access