The design and management of agricultural transport systems is facing a seriesof challenges. The goals of increasing vehicle mobility and reducing soil stress have alwaysbeen in the center of attention. Involving trailer wheels in the production of pulling forcecould be beneficial in both cases. In this way, the mobility of the transport system could besecured even in heavy soil conditions, and the soil damage could be reduced as well.Despite the potential advantages, trailer protrusion is not currently practical. The reasonfor this is the lack of proper safety measures. The origin of this problem is the forcegenerated by the trailer protrusionacting on the drawbar, which can bring the tractor intoan unstable state, causing the tractor to roll over or the vehicle train to jack-knife. Toavoid such accidents, a control system must be developed which can recognize thebeginning of unstable vehicle behavior and either by warning or intervention help tomaintain the stable state of the vehicle.The goals of this paper can be summarized as follows:– To introduce a computer simulation model of an agricultural transport vehicle-parkconsisting of different dynamical models of tractors and trailers. The aim of this modelparkis to perform stability analysis of tractor – propelled axle trailer vehiclecombinations.– To introduce stability criteria equations for future stability control programs which candetermine different unstable states, and by interaction can re-stabilize the vehiclecombinations.