Wonderful subject, kids on a trip. I have many mixed thoughts about kids being on the truck. Most companies will allow a child at the age 12 and older. There are few that will let younger children on the truck, but I am sure you have to sign a statement, if anything was to happen, the company is not responsible in anyway.
But, when you have a child/children on the truck be prepared to have your world upside down. There are companies out there that will not allow children on their premises so that could stop you from being dispatched on that load. Now you have driven all night, the child has slept all night, you need to sleep. Will you be able to? Will the child stay locked up in the truck while you sleep, or will they sneak out of the truck. Granted this is the worse case stated, but I have seen it happen. So many unexpected things can go wrong with a child on the truck.
Now, on the other hand, its a good idea. You will get to really know your child. They will finally get to see who you are and what you do.
Given some children attitude, this could be a life changing experience for the whole family.
As you see I have really tried to think this out and still have mixed thoughts. I bet a few of you have some stories to tell about having a child on the truck.