A compensation fuzzy PID control scheme (CFPID) based on multi-axles cooperative steering is proposed to solve the rear axles center following the driving track of the head axle in this paper. Firstly, according to the assumption that each axle has the same rotation center, the feedforward control angle of the axles is determined by using the extended Ackerman steering principle. Secondly, the following deviation and change rate of the rear axles are calculated according to the center trajectory of the head axle. And Fuzzy PID control is used to determine the compensation control Angle of the rear axles, so the vehicle trajectory following control performance is improved. Finally, the trajectory following performance and robustness of CFPID are verified by simulation with different speeds, road adhesion coefficients and control schemes under typical road condition. The simulation results show that the tracking control performance has improved with lest lateral deviation and lateral hinge force compared with the extended Ackerman steering feedforward control (EASF) and fuzzy PID control (FPID) under the same speed and road adhesion coefficient, which indicate the proposed CFPID reduced the transverse deviation of each vehicle body and the transverse hinge relay between vehicles. Compared with PID control, the adaptive performance of compensating fuzzy PID control is verified under different speed and road adhesion coefficient.