Abstract
A cooperative vehicle platoon is a set of vehicles driving together with low headway enabled by the connected and automated vehicle technology. One of the major benefits of vehicle platooning is energy savings. However, as vehicles at different positions in a platoon save differently from the platooning, some drivers or owners of vehicles may not be willing to join or stay in the platoon even if they are advised to do so, yielding a behaviorally unstable platoon. This study investigates optimal platoon formation to maximize the platooning benefit and then determines a mechanism to redistribute the benefit to incentivize vehicles to form and maintain the desired platoon formation.
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