Platooning method for application in heavy trucks

A method for guiding a motor vehicle on the basis of image data when autonomously driving the motor vehicle in platooning formation following a leading vehicle, by a steering controller coupled to a steering system, and a headway controller controlling a vehicle's interdistance relative to a leading vehicle, said method comprising:

• controlling, by the steering controller, the vehicle's lateral distance relative to a first lane side, said steering controller receiving inputs from a first lane side detector mounted on a vehicle's first front side location, and from a second lane side detector mounted on the a vehicle's second front side location opposing said vehicle's first front side location, wherein said first and second detectors are spaced apart over or wider than the vehicle's width,
• wherein said first and second lane side detectors are each integrated as a forward looking camera in an external rearward looking front side mirror or mirror replacing means, and
• wherein said front side mirror further comprises a first camera imaging a side area extending sideways behind the vehicle;
• a second camera imaging a side area extending sideways away from the vehicle;
• a third camera imaging a side proximity area of the vehicle;
• and a front blind spot camera imaging the area directly before the vehicle.