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Daimler trucks tested automated convoys including 2 years of testing on public highways. What worked great on the test track failed on public roads. The fuel savings almost disappeared because human drivers would cut between the trucks and break the convoy. Then the following trucks would need to burn extra fuel to catch back up with the lead truck.
Somewhere out there is a video of a platoon of trucks doing synchronized auto braking based on the sensors on the lead truck.
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