I've heard an analogy about a charioteer. How does this teaching use the imagery of a charioteer, horses, and reins to explain the relationship between the intellect and the mind?

Chapter 17 presents a powerful analogy to describe self-control. In this metaphor, the mind is likened to powerful horses, and the intellect of discrimination is the charioteer. For the journey to the supreme state to be successful, the charioteer must be skillful and expert, keeping the horses under control with the reins. If the charioteer, or intellect, becomes a slave to the mind's reins, they become weak and will not reach the destination. The passage clarifies that only he who has a concentrated heart and control over his mind, guided by a discriminating intellect, will attain that supreme state.