Raju said a second driver was mandatory in order to relieve the driver if he feels fatigued.
The move was announced after the driver of a private bus rammed his vehicle into a stationary truck at Allagadda in Kurnool district Sunday, killing 13 people.
Preliminary investigations revealed the driver had dozed off.
The minister also said that installation of speed governors would be made compulsory for all buses and heavy vehicles to limit the speed at 65 kmph.
Andhra Pradesh accounts for one of the highest number of road accidents in the country. Last year, over 12,000 people were killed in accidents.