Internal combustion (IC) engines are the major source of motive power in the world, a fact that is expected to continue well into this century. To increase the total efficiency and reduce CO2 emissions, recently exhaust heat recovery (EHR) based on thermoelectric (TE) and thermal fluid systems have been explored widely and a number of new technologies have been developed in the past decade. In this paper, relevant researches are reviewed for providing an insight into possible system designs, thermodynamic principles to achieve high efficiency, and selection of working fluids to maintain necessary system performance. From a number of researches, it has been found the Rankine cycle (RC) has been the most favourite basic working cycle for thermodynamic ERR systems. Based on the cycle, various different system configurations have been investigated. Accepting a certain design and manufacture cost, a system based on heavy duty vehicle application can increase the total powertrain efficiency by up to 30% (based on NEDC driving condition). To achieve the highest possible system efficiency, design of systemic structure and selections for both the expander and the working fluid (medium) are critical. (C) 2011 Elsevier Ltd. All rights reserved.