Backward steering of a tractor-trailer vehicle needs more special techniques than that of a non-trailer vehicle. In this paper, we propose a design method of a man-machine system which enables a driver to steer a tractor-trailer vehicle backward as if he steers a non-trailer vehicle backward. The system only improves the dynamics by nonlinear feedback control, and the backward driving is left to the driver. Since the position of the vehicle is not used for the feedback, the system can be easily implemented for the car driven by wire.