Abstract: In order to achieve the lateral stability of tractor-semitrailer in steering and braking, the nonlinear dynamics simulation model of tractor-semitrailer is proposed. The reliability of the model was verified using the steady steering and straight line braking test of the real vehicle system. The failure mechanism of the tractor-semitrailer was analyzed while steering and braking in low adhesion road. Further, a control strategy was designed to correct the lateral stability using tractor and semitrailer compensation yaw moment. The simulation results show that the control strategy can effectively correct excessive steering while vehicle is steering and braking in a low adhesion road, and improve the lateral stability of vehicle.