A brake signal which is triggered by {HEAD ~ the driver} by activating {TAIL ~ the brake pedal} is converted into a required braking torque 
by activating
A brake signal which is triggered by { HEAD ~ the driver } by activating { TAIL ~ the brake pedal } is converted into a required braking torque
OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH