The component or system is arranged to initiate {HEAD ~ an action} or change its operation if {TAIL ~ a collision} is predicted 
if
The component or system is arranged to initiate { HEAD ~ an action } or change its operation if { TAIL ~ a collision } is predicted
OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH