Due to the continuously increasing volume of road freight transportation, there is a need to aid or automate truck-trailer driving. Truck docking, the process of parking a truck-trailer combination at a loading dock, is one of the most difficult manoeuvres for professional drivers. In this work, we propose a Model Predictive Control (MPC)-based truck docking driver assistance system. The objective of the system is to support the truck driver while parking the vehicle by means of visual instructions. MPC is an advanced control method that can be used to control Multiple-Input and Multiple-Output (MIMO) systems based on a finite horizon optimization. The control structure allows one to formulate a multi-objective control strategy with explicit constraints. This work has been conducted within the scope of the VIsion Supported Truck docking Assistant (VISTA) project and the practical application of the proposed system is to experiment with an MPC-based approach for the VISTA system currently in development. To determine the optimal control action, the proposed MPC-based driver assistant makes use of a kinematic model describing the motion of the vehicle as well as a second-order linear time-invariant model representing the driver’s behaviour. The system is examined by testing four performance categories: path tracking error, robustness, computational speed, and driver acceptance. The performance of the system is tested with professional truck drivers and people without a truck driver’s licence in a Virtual Reality (VR) simulation. The results suggest that the proposed MPC-based driver assistant is able to perform well regarding reference path tracking and is robust against driver errors, with satisfactory computational speed. The feedback and comments from the professional drivers during testing also indicate definite possible advantages of using the system. As of now, the MPC-based solution is preferred over previous concepts of the VISTA system.