Driving safety of a semi-trailer is greatly reduced when driving in a section with a narrow turning radius, so a dynamic study of driving and road conditions is required. In this study, the driving stability of the semi-trailer was investigated using the RecurDyn program in consideration of the velocity and weight of the semi-trailer in the entrance curve section of the highway, and the turning angle and radius of the curved road. In order to select the model and analysis conditions according to the road type, the sloping curved road was modeled by selecting the curvature, entry length, height difference, and entrance angle of the curved section. From the analysis results, the higher the semi-trailer's entrance velocity, the heavier the weight, the narrower the entrance angle of the curved road, and the smaller the curvature, the greater the semi-trailer's maximum running angular speed which had an effect on driving stability.