Your boss's answer is a bit enigmatic to say the least. maybe he means "if you drive well" !! A performance related bonus is not at all the same thing as paying someone for extra hours worked and its pretty mean of him to muddle the two.
I suspect what he really means is "I dont know - Ill have to ask my boss and/or see if anyone else asks".
There should be a clause in your employment contract which spells this out. But, if you are monthly salaried I would say it was bad form for you to ask to be recompensed, and if you are hourly paid it is very bad form of him not to offer. If you are in the middle then it is a bit grey. Are you normally paid overtime? Did you volunteer to go? Did you say you didnt want to go? Whats in your contract? Are you on teh same contract type as teh colleague you are going with? etc etc