The document summarizes research on a wireless-communication-based active trailer steering system for articulated heavy vehicles. The system uses wireless communication to exchange information between vehicle units to increase safety by preventing unstable motions. An extended Kalman filter with fading memory was developed to estimate vehicle states under different wireless channel models. Simulation results showed that optimizing the physical layer configuration of the DSRC wireless standard, including modulation type, data rate, and channel estimation model, could improve latency and packet detection for the vehicle control system. The optimal parameters were found to be 16-QAM modulation, 4.5Mbps data rate, and block-type channel estimation.