Optimal Platoon Formation and Stable Benefit Allocation in Mixed-Energy Truck Fleets under Size Limitations

TL;DR

This paper develops an optimal coalition formation and benefit allocation framework for mixed-energy truck fleets with size constraints, maximizing platooning benefits and ensuring stability.

Contribution

It introduces a novel coalitional game model with bounded coalition sizes and a stable payoff scheme for mixed-energy fleets under size limitations.

Findings

Maximizes total platooning benefit across feasible formations

Provides stable benefit allocations outperforming baselines

Ensures stability within the coalition-structure core

Abstract

In this paper, we investigate cooperative platoon formation and benefit allocation in mixed-energy truck fleets composed of both electric and fuel-powered trucks. The central challenge arises from the platoon-size constraint, which limits the number of trucks permitted in each platoon and introduces combinatorial coupling into the search for optimal platoon formation structures. We formulate this problem as a coalitional game with bounded coalition sizes and derive a closed-form characterization of the optimal coalition structure that maximizes the fleet-wide platooning benefit. Building on this structure, we develop a type-based least-core payoff allocation scheme that guarantees stability within the coalition-structure core (CS-core). For cases in which the CS-core is empty, we compute the least-core radius to determine the minimal relaxation required to achieve approximate stability. Through numerical studies, we demonstrate that the proposed framework consistently achieves the highest total platooning benefit among all feasible formation configurations while providing stable benefit allocations that outperform existing baseline methods.