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I was partly joking in the comment on trains but I doubt that any truck convoy automation will approach the fuel efficiency of rail in terms of fuel per ton shipped. Where trucks are superior, of course, is flexibility and sometimes that flexibility is more important than mileage. I could see dedicated truck lanes with automation being of some benefit (separation from cars being one important factor). There has been talk of dedicated truck lanes on I-81 in Virginia for many years. Maybe automation could be a part of that. The issue, obviously, will boil down to money.
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