diff --git a/eagleye_core/navigation/include/eagleye_navigation/eagleye_navigation.hpp b/eagleye_core/navigation/include/eagleye_navigation/eagleye_navigation.hpp
index e3e77d11..16bd3ecf 100644
--- a/eagleye_core/navigation/include/eagleye_navigation/eagleye_navigation.hpp
+++ b/eagleye_core/navigation/include/eagleye_navigation/eagleye_navigation.hpp
@@ -77,6 +77,7 @@ struct VelocityScaleFactorParameter
   double estimated_maximum_interval;
   double gnss_receiving_threshold;
   bool save_velocity_scale_factor{false};
+  double curve_judgment_threshold;
 };
 
 struct VelocityScaleFactorStatus
@@ -500,9 +501,9 @@ struct RollingStatus
   bool data_status;
 };
 
-extern void velocity_scale_factor_estimate(const rtklib_msgs::msg::RtklibNav, const geometry_msgs::msg::TwistStamped, const VelocityScaleFactorParameter,
+extern void velocity_scale_factor_estimate(const sensor_msgs::msg::Imu, const rtklib_msgs::msg::RtklibNav, const geometry_msgs::msg::TwistStamped, const VelocityScaleFactorParameter,
   VelocityScaleFactorStatus*, geometry_msgs::msg::TwistStamped*, eagleye_msgs::msg::VelocityScaleFactor*);
-extern void velocity_scale_factor_estimate(const nmea_msgs::msg::Gprmc, const geometry_msgs::msg::TwistStamped, const VelocityScaleFactorParameter,
+extern void velocity_scale_factor_estimate(const sensor_msgs::msg::Imu, const nmea_msgs::msg::Gprmc, const geometry_msgs::msg::TwistStamped, const VelocityScaleFactorParameter,
   VelocityScaleFactorStatus*, geometry_msgs::msg::TwistStamped*, eagleye_msgs::msg::VelocityScaleFactor*);
 extern void distance_estimate(const geometry_msgs::msg::TwistStamped, DistanceStatus*, eagleye_msgs::msg::Distance*);
 extern void yaw_rate_offset_stop_estimate(const geometry_msgs::msg::TwistStamped, const sensor_msgs::msg::Imu, const YawrateOffsetStopParameter,
diff --git a/eagleye_core/navigation/src/velocity_scale_factor.cpp b/eagleye_core/navigation/src/velocity_scale_factor.cpp
index f3bcb2ff..0b7d2581 100755
--- a/eagleye_core/navigation/src/velocity_scale_factor.cpp
+++ b/eagleye_core/navigation/src/velocity_scale_factor.cpp
@@ -33,10 +33,10 @@
 
 #define knot2mps 0.51477
 
-void velocity_scale_factor_estimate_(const geometry_msgs::msg::TwistStamped velocity, const VelocityScaleFactorParameter velocity_scale_factor_parameter,
+void velocity_scale_factor_estimate_(const sensor_msgs::msg::Imu imu, const geometry_msgs::msg::TwistStamped velocity, const VelocityScaleFactorParameter velocity_scale_factor_parameter,
   VelocityScaleFactorStatus* velocity_scale_factor_status, geometry_msgs::msg::TwistStamped* correction_velocity,
   eagleye_msgs::msg::VelocityScaleFactor* velocity_scale_factor)
-{ 
+{
     int i;
     double initial_velocity_scale_factor = 1.0;
     double raw_velocity_scale_factor = 0.0;
@@ -88,10 +88,14 @@ void velocity_scale_factor_estimate_(const geometry_msgs::msg::TwistStamped velo
   std::vector<int> index;
   std::vector<double> velocity_scale_factor_buffer;
 
-  if (velocity_scale_factor_status->estimated_number >= estimated_buffer_number_min &&
+  bool velocity_scale_factor_estimate_flag = (velocity_scale_factor_status->estimated_number >= estimated_buffer_number_min &&
     velocity_scale_factor_status->gnss_status_buffer[velocity_scale_factor_status->estimated_number - 1] == true &&
     velocity_scale_factor_status->velocity_buffer[velocity_scale_factor_status->estimated_number - 1] >
-    velocity_scale_factor_parameter.moving_judgment_threshold)
+    velocity_scale_factor_parameter.moving_judgment_threshold &&
+    std::abs(imu.angular_velocity.z) < velocity_scale_factor_parameter.curve_judgment_threshold
+  );
+
+  if (velocity_scale_factor_estimate_flag)
   {
     for (i = 0; i < velocity_scale_factor_status->estimated_number; i++)
     {
@@ -114,8 +118,9 @@ void velocity_scale_factor_estimate_(const geometry_msgs::msg::TwistStamped velo
     {
       for (i = 0; i < index_length; i++)
       {
-        velocity_scale_factor_buffer.push_back(velocity_scale_factor_status->doppler_velocity_buffer[index[i]] /
-          velocity_scale_factor_status->velocity_buffer[index[i]]);
+        double tmp_velocity_scale_factor = velocity_scale_factor_status->doppler_velocity_buffer[index[i]] /
+          velocity_scale_factor_status->velocity_buffer[index[i]];
+        velocity_scale_factor_buffer.push_back(tmp_velocity_scale_factor);
       }
 
       velocity_scale_factor->status.estimate_status = true;
@@ -164,7 +169,7 @@ void velocity_scale_factor_estimate_(const geometry_msgs::msg::TwistStamped velo
 
 }
 
-void velocity_scale_factor_estimate(const rtklib_msgs::msg::RtklibNav rtklib_nav, const geometry_msgs::msg::TwistStamped velocity,
+void velocity_scale_factor_estimate(const sensor_msgs::msg::Imu imu,const rtklib_msgs::msg::RtklibNav rtklib_nav, const geometry_msgs::msg::TwistStamped velocity,
   const VelocityScaleFactorParameter velocity_scale_factor_parameter, VelocityScaleFactorStatus* velocity_scale_factor_status,
   geometry_msgs::msg::TwistStamped* correction_velocity, eagleye_msgs::msg::VelocityScaleFactor* velocity_scale_factor)
 {
@@ -216,10 +221,11 @@ void velocity_scale_factor_estimate(const rtklib_msgs::msg::RtklibNav rtklib_nav
   velocity_scale_factor_status->doppler_velocity_buffer.push_back(doppler_velocity);
   velocity_scale_factor_status->velocity_buffer.push_back(velocity.twist.linear.x);
 
-  velocity_scale_factor_estimate_(velocity, velocity_scale_factor_parameter, velocity_scale_factor_status, correction_velocity, velocity_scale_factor);
+  velocity_scale_factor_estimate_(imu, velocity, velocity_scale_factor_parameter, velocity_scale_factor_status, correction_velocity, velocity_scale_factor);
 }
 
-void velocity_scale_factor_estimate(const nmea_msgs::msg::Gprmc nmea_rmc, const geometry_msgs::msg::TwistStamped velocity,
+void velocity_scale_factor_estimate(const sensor_msgs::msg::Imu imu,
+  const nmea_msgs::msg::Gprmc nmea_rmc, const geometry_msgs::msg::TwistStamped velocity,
   const VelocityScaleFactorParameter velocity_scale_factor_parameter, VelocityScaleFactorStatus* velocity_scale_factor_status,
   geometry_msgs::msg::TwistStamped* correction_velocity, eagleye_msgs::msg::VelocityScaleFactor* velocity_scale_factor)
 {
@@ -243,5 +249,5 @@ void velocity_scale_factor_estimate(const nmea_msgs::msg::Gprmc nmea_rmc, const
   velocity_scale_factor_status->doppler_velocity_buffer.push_back(doppler_velocity);
   velocity_scale_factor_status->velocity_buffer.push_back(velocity.twist.linear.x);
 
-  velocity_scale_factor_estimate_(velocity, velocity_scale_factor_parameter, velocity_scale_factor_status, correction_velocity, velocity_scale_factor);
+  velocity_scale_factor_estimate_(imu, velocity, velocity_scale_factor_parameter, velocity_scale_factor_status, correction_velocity, velocity_scale_factor);
 } 
diff --git a/eagleye_rt/config/eagleye_config.yaml b/eagleye_rt/config/eagleye_config.yaml
index 67375604..8ca0f8bf 100644
--- a/eagleye_rt/config/eagleye_config.yaml
+++ b/eagleye_rt/config/eagleye_config.yaml
@@ -46,6 +46,7 @@
       save_velocity_scale_factor: false                    
       velocity_scale_factor_save_duration: 100.0 
       th_velocity_scale_factor_percent: 10.0          
+      curve_judgment_threshold: 0.0873
 
     yaw_rate_offset_stop:                                  
       estimated_interval: 4
diff --git a/eagleye_rt/src/velocity_scale_factor_node.cpp b/eagleye_rt/src/velocity_scale_factor_node.cpp
index 17005487..320b592f 100644
--- a/eagleye_rt/src/velocity_scale_factor_node.cpp
+++ b/eagleye_rt/src/velocity_scale_factor_node.cpp
@@ -97,12 +97,12 @@ void imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr msg)
 
   if (_use_gnss_mode == "rtklib" || _use_gnss_mode == "RTKLIB") // use RTKLIB mode
   {
-    velocity_scale_factor_estimate(_rtklib_nav,_velocity,_velocity_scale_factor_parameter,
+    velocity_scale_factor_estimate(_imu,_rtklib_nav,_velocity,_velocity_scale_factor_parameter,
       &_velocity_scale_factor_status,&_correction_velocity,&_velocity_scale_factor);
   }
   else if (_use_gnss_mode == "nmea" || _use_gnss_mode == "NMEA") // use NMEA mode
   {
-    velocity_scale_factor_estimate(_nmea_rmc,_velocity,_velocity_scale_factor_parameter,
+    velocity_scale_factor_estimate(_imu,_nmea_rmc,_velocity,_velocity_scale_factor_parameter,
       &_velocity_scale_factor_status,&_correction_velocity,&_velocity_scale_factor);
   }
 
@@ -217,6 +217,7 @@ int main(int argc, char** argv)
     _velocity_scale_factor_parameter.estimated_minimum_interval = conf["/**"]["ros__parameters"]["velocity_scale_factor"]["estimated_minimum_interval"].as<double>();
     _velocity_scale_factor_parameter.estimated_maximum_interval = conf["/**"]["ros__parameters"]["velocity_scale_factor"]["estimated_maximum_interval"].as<double>();
     _velocity_scale_factor_parameter.gnss_receiving_threshold = conf["/**"]["ros__parameters"]["velocity_scale_factor"]["gnss_receiving_threshold"].as<double>();
+    _velocity_scale_factor_parameter.curve_judgment_threshold = conf["/**"]["ros__parameters"]["velocity_scale_factor"]["curve_judgment_threshold"].as<double>();
 
     node->declare_parameter("velocity_scale_factor_save_str",_velocity_scale_factor_save_str);
     node->declare_parameter("velocity_scale_factor.save_velocity_scale_factor",_velocity_scale_factor_parameter.save_velocity_scale_factor);
@@ -239,6 +240,7 @@ int main(int argc, char** argv)
     std::cout << "estimated_minimum_interval " << _velocity_scale_factor_parameter.estimated_minimum_interval << std::endl;
     std::cout << "estimated_maximum_interval " << _velocity_scale_factor_parameter.estimated_maximum_interval << std::endl;
     std::cout << "gnss_receiving_threshold " << _velocity_scale_factor_parameter.gnss_receiving_threshold << std::endl;
+    std::cout << "curve_judgment_threshold " << _velocity_scale_factor_parameter.curve_judgment_threshold << std::endl;
 
     std::cout<< "velocity_scale_factor_save_str " << _velocity_scale_factor_save_str << std::endl;
     std::cout<< "save_velocity_scale_factor " << _velocity_scale_factor_parameter.save_velocity_scale_factor << std::endl;