Alternatively, when the magnitudes of rates of change of the target braking/driving force after {TAIL ~ a modification} and the target yaw moment after the modification exceed {HEAD ~ the corresponding limited rates} of change, these magnitudes of the rates of change are limited to the limited rates of change 
Alternatively , when the magnitudes of rates of change of the target braking / driving force after { TAIL ~ a modification } and the target yaw moment after the modification exceed { HEAD ~ the corresponding limited rates } of change , these magnitudes of the rates of change are limited to the limited rates of change
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH