A Collision Response Model of an Ackermann Vehicle with Combined Longitudinal and Lateral Velocity

It is anticipated that autonomous vehicles would be able to generate tractive force and steering angles to prevent unforeseen collisions due to vehicle collisions. During the occurrence of such a collision, a variety of conditions arise that affect the motion or trajectory of the vehicle. The autonomous driving algorithm must have a model of the vehicle response under such circumstances to generate required control actions under such unexpected collisions so that the vehicle is restored to its intended path and does not become unstable. This study investigates potential collision scenarios and examines the impact of the same on the vehicle's trajectory or motion using a more generalized single-track Ackermann vehicle model, which incorporates the influence of varying longitudinal velocity and its effect on lateral and yaw dynamics. The motion of a vehicle can be controlled by both the steering angle and the tractive force, which are taken into account throughout the modeling process. Most scholarly literature consider the longitudinal velocity of the vehicle to be constant. However, it is essential to note that the longitudinal velocity is considered to be variable in the presented model, and its effect on vehicle dynamics is incorporated to obtain a closer description of the actual vehicle dynamics in the special conditions of collision. Additionally, the current model considers the coupling of the lateral and longitudinal velocities and the yaw angle of the vehicle during the vehicle motion.