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