Vehicle turning control apparatus and method and vehicle and storage medium including the same

A vehicle turning control apparatus, comprising:

• a controller configured to control a front wheel motor driving a front wheel of a vehicle and a rear wheel motor driving a rear wheel of the vehicle based on a sensing value detected by a sensor unit of the vehicle,
• wherein the controller is further configured to:
• determine a target yaw rate value based on a steering angle value and a vehicle speed value of the sensor unit,
• determines a steering index value based on a difference between the target yaw rate value and a vehicle yaw rate value of the sensor unit,
• control at least one of the front wheel motor or the rear wheel motor so that a slip target value or a slip target distribution ratio of the front wheel is further increased as an absolute value of the steering index value increases based on that the steering index value corresponds to oversteer, and
• control at least one of the front wheel motor or the rear wheel motor so that the slip target value or the slip target distribution ratio of the front wheel is further reduced as the absolute value of the steering index value increases based on that the steer index value corresponds to understeer.

A vehicle turning control method, comprising:

• determining whether a vehicle satisfies a predetermined turning state condition based on a sensing value detected by a sensor unit of the vehicle;
• determining a turning index value including a steering index value based on the sensing value of the sensor unit;
• determining a slip target value or a slip target distribution ratio based on the turning index value;
• and
• controlling at least one of a front wheel motor or a rear wheel motor so that a slip value of at least one of the front wheel or the rear wheel of the vehicle follows the slip target value or the slip target distribution ratio, in a turning control mode in which the vehicle satisfies the predetermined turning state condition,
• wherein the determining of the slip target value or the slip target distribution ratio includes, further increasing the slip target value or the slip target distribution ratio of the front wheel as an absolute value of the steering index value increases, based on that the steering index value corresponds to oversteer, and further reducing the slip target value or the slip target distribution ratio of the front wheel as the absolute value of the steering index value increases, based on that the steering index value corresponds to understeer.