Semi-trailer trucks generate the articulation angle during turning situation due to structural characteristics. This angle can cause the trailer to deviate from the road boundary and, thus, lead to collision with structures and/or vehicles on the roadway. In this study, a narrow passage assistant system is proposed using rear steering so that the semi-trailer truck is controlled inside the lane boundary even in tight turning circumstances. Based on the measured lane information using camera sensors, the model predictive control is applied for predicting the future state and tracking the reference path. The distribution rule for steering angles of the multi-axle trailer is described such that each wheel of the trailer has the same turning center and their tire slip angles are consistent. The proposed system is verified using commercial software and its performance demonstrates the effectiveness of rear steering in semi-trailer truck.
