The method 1, wherein {HEAD ~ each} of {TAIL ~ said braking power} of said front axle and the braking power of said rear axle are a function of the steering angle of the wheels of the front axle 
of
The method 1 , wherein { HEAD ~ each } of { TAIL ~ said braking power } of said front axle and the braking power of said rear axle are a function of the steering angle of the wheels of the front axle
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL 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 OTH OTH OTH OTH