When the magnitudes of the target braking/driving force after a modification and the target yaw moment after {HEAD ~ the modification} exceed {TAIL ~ the corresponding limit value}, these magnitudes are limited to the limit values 
exceed
When the magnitudes of the target braking / driving force after a modification and the target yaw moment after { HEAD ~ the modification } exceed { TAIL ~ the corresponding limit value } , these magnitudes are limited to the limit values
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH