7. Conclusion
Our contributions in this study can be summarized as following. First, a mathematical model minimizing trips of cooperation based on trip scheduled results is proposed. By defining cooperative trip set, we prove that cooperation can save trips only when cooperative trip set exists. Second, for the two-trip cooperative trip set, we obtain the optimal solution of saved trips by enumerating all feasible cooperative cases. Subsequently we propose a novel decomposition method to obtain the optimal solution of K-trip cooperative trip set by decomposing it to at most K − 1 two-trip cooperative trip sets. Third, we develop a based-on-decomposition algorithm to accurately calculate saved trips by cooperation. Computational complexity of the exact algorithm is O(N), where N is the total number of trips. Using the exact algorithm, we calculate the exact Shapley value for a real cooperative pickup and delivery case, i.e., PDCA. Using the proposed decomposition algorithm, we can further investigate the other classical profit distribution method based on cooperative game theory, such as the kernel, the bargaining set, the stable set, the core and the nucleolus.