Unfortunately I have no idea if it is 12V or ground. Best way to find out is to measure it, if you have a meter.
1. Put the red lead from the meter on Yellow/Black and the black lead from the meter on the vehicle chassis.
2. Measure DC voltage.
3. If it is 0V, then it should be taken to 12VDC, if 12VDC then it should be taken to chassis ground.
Either way you will need to make a connection at the brake switch. All brake systems I have worked on have 12VDC going to the brake and when you depress it the 12VDC goes to the brake lights. The latter is the wire you will have to identify. Try to find it by probing the connector on the brake pedal. Look for a 0VDC-12VDC change when pressing and releasing the pedal. I don't suggest stripping and measuring all wires.
When you find it, find a convenient place to attach a wire. In the manual they suggest using a squeezable crimp, this would be perfect. Please make sure to mount the wire in a way that it will not interfer with the brake pedal. I don't want to be responsible for anything happening to you.
Follow the drawing I attached for either method. If you do need a relay, a very small one will do. I can't imagine it requiring more than 100mA. You may wish to fuse it with possibly a 300mA fuse, but I wouldn't.
Good luck.
