Abstract: To study the steering for a three-axle vehicle, a two freedom model is used to describe the all-wheel steering scheme of the vehicle. Based on the model the dynamic equations are developed. On the three cases viz.: all-wheel steering, four-wheel steering and front-wheel steering, the steady part of the yaw velocity gains of the vehicle are separately analyzed. Influence of the longitudinal distance between the middle axle and the mass center on the gains is studied. Simulation results showed that all-wheel steering scheme is the best choice for use in the three-axle vehicle.