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