The widespread use of semi-trailer trucks as a critical mode of freight transportation, owing to their high payload capacity and operational flexibility, necessitates advancements in motion control systems to enhance their safety, efficiency, and adaptability to dynamic road conditions. Model Predictive Control (MPC) is an advanced control strategy extensively employed in the field of motion control for autonomous vehicle guidance. The performance of the MPC method directly depends on how accurately the prediction model within the MPC can replicate real vehicle dynamics. Using a precise parameter set is crucial to achieving a reliable and robust controller, as any parameter mismatch between the controller and the real vehicle could lead to MPC failure.