When the magnitudes of {HEAD ~ the target braking/driving force} after {TAIL ~ a modification} and the target yaw moment after the modification exceed the corresponding limit value, these magnitudes are limited to the limit values 
When the magnitudes of { HEAD ~ the target braking / driving force } after { TAIL ~ a modification } and the target yaw moment after the modification exceed the corresponding limit value , these magnitudes are limited to the limit values
OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL 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