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The main goal of this study is to extract an algorithm for truck-semitrailer lane change maneuver decision-making in real dynamic environment. In order to accomplish this aim, a new method for determining decision-making constraints is applied based on the kinematics of the truck-semitrailer. In this approach, the various points of the truck-semitrailer are evaluated in different conditions when lane change maneuver is in progress, and the critical points of the truck-semitrailer are defined according to the present method. Critical points are used as the main points of the truck-semitrailer to apply the constraints. In order to enhance the efficiency of the methodology, new offline dynamic realistic method is used based on a four DoF dynamic model of the truck-semitrailer. By this approach, a relation for minimum time of the maneuver is extracted based on the dynamic model of the truck-semitrailer and environment features. Based on the results of the simulation assays, the minimum reliable time for lane change maneuver is chosen and decision-making strategies are proposed for the lane change maneuver of the vehicle in real dynamic environment. To evaluate the algorithm, it applied to a sample of the truck-semitrailers. The results predict the methodology is accurate and applicable.