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 of the vehicle, wherein the rear external wheel is further externally located than a rear internal wheel 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 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 as compared to the speed of the rear external wheel , 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 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 of the vehicle, wherein the rear external wheel is further externally located than a rear internal wheel 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 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 as compared to the speed of the rear external wheel , 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 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. <EOS>