聯結車輛因體積與重量較小型車來得大，發生意外的嚴重性也大大提升。聯結車常見的意外事故類型也與一般單車體車輛不同，常見的如翻覆、鐮刀效應、半拖車失控等等。因此，聯結車輛安全系統的開發日漸重要。本論文將設計拖車頭後輪轉向控制器來預防聯結車之鐮刀效應。為了觀察控制器性能，本論文利用線性化聯結車模型與TruckSim軟體來模擬不同轉向行為下，藉由控制拖車頭後輪轉向，使聯結車的第五輪角度響應追蹤到一理想化的第五輪角度，降低鐮刀效應發生機率。此外，本論文也將利用TruckSim軟體模擬鐮刀效應發生情況，並觀察在加入控制器後，是否能透過拖車頭後輪轉向有效抑制鐮刀效應發生。

Because of its huge size and weight, the accidents of articulated vehicles are usually more serious than compact cars. There are unique types of accidents that may occur in articulated vehicles, such as rollover, jackknife effect, trailer swing and so on. Therefore, development of the active safety systems on articulated vehicles becomes more important. In this research, a controller is designed to steer the rear wheels of the tractor to prevent the articulated vehicles jackknife effect. To investigate the effectiveness of the controller, simulations on linearized articulated vehicle model and the software called TruckSim are used to check whether the fifth wheel angle of the articulated vehicle can track the desired fifth wheel angle under different maneuver by steering the rear wheels of the tractor to prevent the occurrence of jackknife effect. Moreover, simulations of jackknife effect by TruckSim software are shown in this research. The designed controller will be added afterward to see whether the jackknife effect will be eliminated by steering the rear wheels of the tractor.

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