A delayed turn-in point that straightens the exit.
Every tire has a finite amount of grip.This is represented by the traction circle concept.A tire cannot give 100% braking and 100% cornering simultaneously.You must blend inputs smoothly to maximize traction.
Interestingly, the search for the Driving on the Edge PDF exploded with the rise of sim racing (iRacing, Assetto Corsa Competizione). Why? Because sim racers can push the car to 100% without physical injury. This removes the "fear barrier" Barlow discusses, revealing pure physics.