Abstract: In order to enhance the stability of three-axle vehicle in limited driving conditions, a nonlinear 2 DOF model of three-axle vehicle with all-wheel steering was established by considering the nonlinear characteristics and the vertical load transfer of tires during vehicle steering. Taking zero side-slip angle of mass center as target and using the control method of feed-forward and state feedback, a fuzzy control system of all-wheel steering was designed based on fuzzy control theory. Finally, simulation model of the control system was built by using MATLAB/Simulink software, and the performance of the control system was tested by carrying out various simulations in limited driving conditions. The simulation results show that the fuzzy control method of all-wheel steering can guarantee that the mass-center side-slip angle of three-axle vehicle is basically zero, and the yaw rate and lateral acceleration become stable quickly. In conclusion, the fuzzy control method can effectively avoid the instability of three-axle vehicle in critical steering conditions and improve the initiative security of vehicle significantly.