Post-Collision Trajectory Restoration for a Single-track Ackermann Vehicle using Heuristic Steering and Tractive Force Functions
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| Main Authors: | , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866915785976315904 |
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| author | Ghosh, Samsaptak Orlando, M. Felix Chakrabarty, Sohom |
| author_facet | Ghosh, Samsaptak Orlando, M. Felix Chakrabarty, Sohom |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_08444 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Post-Collision Trajectory Restoration for a Single-track Ackermann Vehicle using Heuristic Steering and Tractive Force Functions Ghosh, Samsaptak Orlando, M. Felix Chakrabarty, Sohom Robotics Systems and Control 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. |
| title | Post-Collision Trajectory Restoration for a Single-track Ackermann Vehicle using Heuristic Steering and Tractive Force Functions |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.08444 |