Post-collision trajectory restoration is a safety-critical capability for autonomous vehicles, as impact-induced lateral motion and yaw transients can rapidly drive the vehicle away from the intended path. This paper proposes a structured heuristic recovery control law that jointly commands steering and tractive force for a generalized single-track Ackermann vehicle model. The formulation explicitly accounts for time-varying longitudinal velocity in the lateral-yaw dynamics and retains nonlinear steering-coupled interaction terms that are commonly simplified in the literature. Unlike approaches that assume constant longitudinal speed, the proposed design targets the transient post-impact regime where speed variations and nonlinear coupling significantly influence recovery. The method is evaluated in simulation on the proposed generalized single-track model and a standard 3DOF single-track reference model in MATLAB, demonstrating consistent post-collision restoration behaviour across representative initial post-impact conditions.

翻译：碰撞后轨迹恢复是自动驾驶车辆的一项安全关键能力，因为碰撞引发的横向运动和横摆瞬态会迅速使车辆偏离预定路径。本文提出一种结构化的启发式恢复控制律，该控制律针对广义单轨阿克曼车辆模型联合控制转向与牵引力。该公式明确考虑了横向-横摆动力学中时变的纵向速度，并保留了文献中常被简化的非线性转向耦合相互作用项。与假设纵向速度恒定的方法不同，所提出的设计针对碰撞后的瞬态阶段，在该阶段速度变化和非线性耦合对恢复过程有显著影响。该方法在MATLAB中通过所提出的广义单轨模型和标准3自由度单轨参考模型进行了仿真评估，结果表明其在具有代表性的碰撞后初始条件下均能实现一致的碰撞后恢复行为。