In Japan, the New Energy and Industrial Technology Development Organization established the gEnergy ITS projecth in 2008 for reducing CO2 emissions. This project aims to develop techniques for autonomous platooning of heavy-duty trucks and reduce their air resistance in expressway driving. In platooning, the inter-truck distance should remain small and constant. This study proposes a novel control method for platooning of heavy-duty trucks. The proposed method uses information acquired from the front and rear trucks by inter-vehicle communication. String stability is guaranteed on the basis of the Lyapunov stability theory. The experimental results of autonomous platooning are provided to ascertain the effectiveness of the proposed method.