When {HEAD ~ 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 the limit values 
of
When { HEAD ~ 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 the limit values
OTH HEAD HEAD HEAD HEAD HEAD HEAD REL 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 OTH OTH OTH