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To be short (and simple) if your truck and trailer are aligned, when you reverse, the trailer will go on the opposite way regarding your truck (e.g. if you turn your wheel to the left, your truck will go to the left, but your trailer to the right).
Be gentle too, you can correct your trajectory most of the time without going back forward.
If you want to get more improvements on your driving skills, you can give a shot at Scania Truck Driving Simulator or Trucks & Trailers
http://store.steampowered.com/app/258760/
http://store.steampowered.com/app/302060/
Line the trailer up to the dock/drop off point as best you can and then start to reverse as slowly as possible as this will give you more time to make small corrections to line it up correctly - if you rush you increase the chances of you jack knifing as it lowers the time you have to make any corrections due to the fact the quicker you do it the more jerky and less precise the movements become. Hang your 'head' out the window and watch where the trailer is going, try to get out of the habit of using third person. Once it's as straight as you can possibly make it all you have to do is simply drive forward to straighten the cab out then reverse while keeping it all straight, use your mirrors as well as looking out your side of the cab.
That's literally it, it seems hard when you don't understand a method of how to do it and how the trailer and cab works together but once you get the hang of it you can do it with you eyes closed because it becomes second nature almost.
1) when you enter the yard. Drive in and make your swing so that you can lean your head out the window and see the parking spot. In real trucking, a driver will say he is coming in on the blind side when he can not look out the window and see the spot.
2) go slow. It makes it much easier to adjust and line up.
3) Make as small of an adjustment to the steering as you can. If you get the trailer moving around to much. It becomes much harder to line up. When you get comfortable, you can overcome the extreme movement, but when you are learning. Less is more.
4) Do not be afraid to hang your head out tthe window to park. It is somewhat unrealistic, but it will make it easier. When you become more comfortable. Turn on your rearview mirrors and use them. Your next step would be to get rid of the left mirror. That is where I am at right now. Since I do not have a head trcker I can not turn off the right mirror, becasue I use a 360 controller, and it takes to long to turn my head.
Parking is the most interesting part of the game to me, and I would not bypass it
There is a little more to it than this, but those are the things that helped me the most.
If you want to practice backing up. Just create you a new profile for testing. Do a quick job cross town. And practice entering the yard, lining up and backing up. When you turn the parking spot green, just drive back out the gate. Circle the block and do it again. This way you get used to pulling into the lot as well as backing up.
You are not worried about advancing this file, so let the load be late. When you nail that one complete the load, and accept a job to a different company to get a slightly different challenge.
https://youtu.be/JyzL5rzJxaE
On the wheel, I recommend to new folks to grab (or look) at the bottom of the wheel. Looking forward in the cab using the mirrors, what ever way you move the bottom of the wheel, thats the way the trailer will go.
Slow, slow, slow, is the key to getting it right in the beginning.
Keep the shiny side up ya'll!
Otherwise, with the keypad (I don't know if it's by default or if I reassigned mine).