Recently, spacing policies of the vehicular platoon have been widely developed to enhance safety, traffic efficiency, and fuel consumption. However, the integrated spacing policies aim to maximum overall benefit, and the distributed spacing policies intense to get optimal monomer benefit. Ignoring the fairness of the benefit allocation of each vehicle will reduce the motivation to constitute the platoon. To fill this critical gap, this study proposes a spacing allocation method by treating spacing decisions as cooperative games. A flock’s model which is used to be the payoff function is introduced based on bionic motion principles. We present a characteristic function of the platoon for the cooperative game model considering the specific structure of the platoon. The τ value, Shapley value, and average lexicographic value are introduced and applied to allocate the spacing fairly. Proposed methods are compared with constant distance policy in some typical situations. The simulation results demonstrate that the spacing policy based on cooperative game theory improved the stable time for consistency control and the convergence of longitudinal following error.

中文翻译：

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车辆排的空间分配方法：一种合作博弈的方法

近来，已经广泛地开发了车辆排的间隔策略以增强安全性，交通效率和燃料消耗。但是，集成间距策略旨在最大程度地提高整体效益，而分布式间距策略则力求获得最佳单体效益。忽略每辆车的利益分配的公平性将减少构成排的动力。为了填补这一关键空白，本研究提出了一种通过将间距决策视为合作博弈的间距分配方法。基于仿生运动原理，引入了一种羊群模型，该模型被用作收益函数。考虑到排的具体结构，我们为合作游戏模型提出了排的特征功能。τ值Shapley值 介绍了平均字典索引值和平均字典索引值，并将其应用于公平分配间距。在某些典型情况下，将建议的方法与恒定距离策略进行了比较。仿真结果表明，基于合作博弈的间隔策略提高了一致性控制的稳定时间和纵向跟随误差的收敛性。