针对碰撞后车辆轨迹恢复难题，提出联合控制转向与驱动力的启发式方法。
Post-Collision Trajectory Restoration for a Single-track Ackermann Vehicle using Heuristic Steering and Tractive Force Functions
- 基于广义单轨阿克曼模型，联合调控转向角与驱动力。
- 在速度变化和非线性耦合条件下仍能实现稳定轨迹恢复。
- 适合关注自动驾驶安全恢复策略的研究者与工程师。
碰撞后的轨迹恢复是自动驾驶车辆的关键安全能力，因为碰撞引发的侧向运动和偏航瞬态可能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，针对广义单轨阿克曼车辆模型，联合命令转向与牵引力。该设计明确考虑了纵向速度时变对侧向-偏航动力学的影响，并保留了文献中常被简化的非线性转向耦合项。与假设恒定纵向速度的方法不同，本设计聚焦于速度波动和非线性耦合显著影响恢复的瞬态碰撞后阶段。该方法在MATLAB中基于所提出的广义单轨模型和标准3DOF单轨参考模型进行仿真评估，展示了在代表性初始碰撞后条件下一致的轨迹恢复表现。
原文摘要 · Abstract (English)
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.
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