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