Dalit: I don't have time to try to explain nonlinear analysis here on the forum. You will need to study your favorite mechanics of materials or strength of materials textbooks, for a long time. You also need to be a good programmer. Even then, it will be a gross approximation. To get more accurate results, you could run a simulation of the impact using very advanced software. Perhaps LS-Dyna would do, but it is probably quite expensive and time-consuming. I only have time to give the results I obtained for your beam, but not further explanation.
The force versus deflection curve I obtained for your beam was P(y) = (y<1.26)(43083*y + 599.4) + (y>1.26)[37787(y + 3.589)^0.2261], for y = 0 to 35 mm, where P = load (in units of N) applied to cantilever by vehicle at a height of 500 mm, and y = cantilever deflection (at a height of 500 mm) in units of mm. Integrate the area under this curve to obtain the beam strain energy, U, to the point of extreme fiber rupture (y = 35 mm). This is based on mild steel. Once you obtain U in N*mm, convert it to N*m. Furthermore, although I didn't do this, you can probably divide the above U by 0.70 or 0.60, or maybe even 0.55, to try to make U also account for energy lost to heat and other forms. After you obtain U, write a conservation of energy equation for the impact, and solve it for v2 to obtain the vehicle final velocity.
Similarly, here is the force versus deflection curve I obtained if you increase your beam wall thickness to 6.0 mm. P(y) = (y<1.26)(99388*y + 362.4) + (y>1.26)[83513(y + 4.434)^0.2357], for y = 0 to 36 mm, where y = 36 mm is the point of extreme fiber rupture.