{HEAD ~ a control means} including {TAIL ~ a CPU} for controlling said wheel driving means in accordance with the outputs of said sensor means 
including
{ HEAD ~ a control means } including { TAIL ~ a CPU } for controlling said wheel driving means in accordance with the outputs of said sensor means
HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH