Platform-based Platooning to Connect Two Autonomous Vehicle Areas

Nadia Pourmohammad-Zia*, Frederik Schulte, Rudy R. Negenborn

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Autonomous vehicles (AVs) have been successfully applied in closed environments such as ports and industrial zones, while their operation in open areas has a long way to go. The current research is initiated to overcome this limitation by the introduction of platooning as a transfer mode. It investigates a container transportation problem between a port and an industrial area where the platform facilitates collaborative transportation. Both zones are appropriate for automated driving, whereas their connecting route is not. Different carriers are present at the port, and each transportation task can be done either by a truck or an AV. The platform not only operates as the interface between demand points and carriers but also provides a platooning service to move AVs through non-autonomous roads. It specifies the transportation schedules and service fees based on which the carriers will decide whether to use AVs or trucks for each transportation task. This is modeled as a Stackelberg competition, transformed into a conventional mixed-integer model, and solved to optimality. The approach enables demand and resource pooling between the port and industrial area. Numerical results show that the successful application of AVs highly depends on platoon formation costs and regulations.

Original languageEnglish
Title of host publicationProceedings of the IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020
Place of PublicationPiscataway, NJ, USA
Number of pages6
ISBN (Electronic)978-1-7281-4149-7
Publication statusPublished - 2020
Event23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020 - Rhodes, Greece
Duration: 20 Sep 202023 Sep 2020


Conference23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Autonomous Vehicles (AVs)
  • Container Transportation
  • Game Theory
  • Platform
  • Platooning


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