According to @radiospiel's related post, you can use foreman to start multiple processes.
1) Add foreman to your Gemfile
2) Create two files:
Procfile:
web: bundle exec unicorn -p $PORT -c ./config/unicorn.rb
worker: bundle exec foreman start -f Procfile.workers
Procfile.workers:
dj_worker: bundle exec rake jobs:work
dj_worker: bundle exec rake jobs:work
dj_worker: bundle exec rake jobs:work
I just deployed this to Heroku, works great.