This paper develops an analytical simulation model to explicate nonlinear lateral dynamic behavior of a Double-A HCT vehicle combination on low road friction surface. The analytical simulation model is based on extended single-track model, which includes Magic Formula (MF) nonlinear tire characteristics and wheel load transfers. Two simulations at a forward velocity of 80 km/h on low road friction surface are performed. First, a double lane change maneuver based on standard ISO 3888. Second, a novel phase plane simulation method for heavy vehicles is introduced. A sensitivity analysis is performed with dolly drawbar length parameter. Results indicate that the examined vehicle combination is relatively unstable with specific state deviations in the phase plane analysis. The phase plane analysis and double lane change maneuver indicate that a longer dolly drawbar promotes stable behavior and increases the lateral stability of the vehicle combination significantly on low road friction surface.