Turning determination apparatus and turning determination method for vehicle

A turning determination apparatus for a vehicle, comprising:

• detection means for detecting wheel speeds of right and left wheels of a vehicle;
• calculation means for calculating a limit of a difference between the wheel speeds of the right and left wheels, based on a steering angle of the vehicle and a distance between the right and left wheels;
• abnormality determination means for determining whether the difference between the wheel speeds of the right and left wheels is normal, based on the difference between the wheel speeds of the right and left wheels and the limit of the difference;
• and
• turning determination means for determining whether the vehicle is turning based on the difference between the wheel speeds of the right and left wheels, when the difference between the wheel speeds of the right and left wheels is normal.

A turning determination method comprising:

• detecting wheel speeds of right and left wheels of a vehicle;
• calculating a limit of a difference between the wheel speeds of the right and left wheels, based on a steering wheel of the vehicle and a distance between the right and left wheels;
• determining whether the difference between the wheel speeds of the right and left wheels is normal, based on the difference between the wheel speeds of the right and left wheels and the limit of the difference;
• and
• determining whether the vehicle is turning based on the difference between the wheel speeds of the right and left wheels, when the difference between the wheel speeds of the right and left wheels is normal.