A system for controlling turning of a vehicle, the system comprising: a steering angle detection sensor configured to detect a steering angle of the vehicle; a front internal wheel speed detection sensor configured to detect a speed of a front internal wheel of the vehicle; a front external wheel speed detection sensor configured to detect a speed of a front external wheel of the vehicle; a rear external wheel speed detection sensor configured to detect a speed of a rear external wheel (16, 17) of the vehicle, wherein the rear external wheel (16, 17) is further externally located than a rear internal wheel (16, 17) based on a turning direction of the vehicle; and a braking controller connected to the steering angle detection sensor, the front internal wheel speed detection sensor, the front external wheel speed detection sensor, and the rear external wheel speed detection sensor, and configured to receive a detected value of the steering angle from the steering angle detection sensor to determine that the vehicle turns along the turning direction, to estimate a speed of the rear internal wheel (16, 17) in the turning direction based on at least one detected value among the speeds received from the front internal wheel speed detection sensor, the front external wheel speed detection sensor, and the rear external wheel speed detection sensor, and to execute a mode for decreasing an estimated speed of the rear internal wheel (16, 17) as compared to the speed of the rear external wheel (16, 17), as a control mode for reducing a minimum rotation radius of the vehicle at a time of the turning, characterized in that the braking controller is configured to control decrease of the rear internal wheel speed (16, 17) by multiplying a gain value of the rear internal wheel speed in the turning direction by a steering-angle gain value indicating a compensation amount of each steering angle and a friction-coefficient gain value indicating a compensation amount of each road surface condition. a steering angle detection sensor configured to detect a steering angle of the vehicle; a front internal wheel speed detection sensor configured to detect a speed of a front internal wheel of the vehicle; a front external wheel speed detection sensor configured to detect a speed of a front external wheel of the vehicle; a rear external wheel speed detection sensor configured to detect a speed of a rear external wheel (16, 17) of the vehicle, wherein the rear external wheel (16, 17) is further externally located than a rear internal wheel (16, 17) based on a turning direction of the vehicle; and a braking controller connected to the steering angle detection sensor, the front internal wheel speed detection sensor, the front external wheel speed detection sensor, and the rear external wheel speed detection sensor, and configured to receive a detected value of the steering angle from the steering angle detection sensor to determine that the vehicle turns along the turning direction, to estimate a speed of the rear internal wheel (16, 17) in the turning direction based on at least one detected value among the speeds received from the front internal wheel speed detection sensor, the front external wheel speed detection sensor, and the rear external wheel speed detection sensor, and to execute a mode for decreasing an estimated speed of the rear internal wheel (16, 17) as compared to the speed of the rear external wheel (16, 17), as a control mode for reducing a minimum rotation radius of the vehicle at a time of the turning, characterized in that the braking controller is configured to control decrease of the rear internal wheel speed (16, 17) by multiplying a gain value of the rear internal wheel speed in the turning direction by a steering-angle gain value indicating a compensation amount of each steering angle and a friction-coefficient gain value indicating a compensation amount of each road surface condition.