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Aimed at the big radius at low speed and bad stability at high speed of five-axle heavy-vehicle with front-wheel-steering, the multi-axle steering technology of five-axle heavy-vehicle was analyzed. A 2-DOF (2-degree of freedom) model and differential equations of five-axle vehicle with all-wheel steering were established. The steering angle ratios of different axles, state condition matrix, transfer functions were obtained based on zero side-slip angle of mass center control strategy. Finally, the handling stability performance of the five-axle vehicle with three steering models were simulated and compared. The results prove that multi-axle steering can decrease the steering radius at low speed and improve vehicle stability at high speed, and five-axle vehicle with all-wheel steering has the best handling stability.  