Trajectory planning and tracking control for vehicles with tire blowout in complex traffic flows

This article focuses on the trajectory planning and tracking control of autonomous vehicles with tire blowouts in complex traffic flows. First, a lane change decision method for obstacle avoidance is developed based on coordinate system transformation projection. Second, combining this decision method, a lattice algorithm is developed with the kinematic constraint of the vehicle with a tire blowout to plan the trajectory in real-time. Third, the trajectory tracking control is decoupled longitudinally and laterally in the Frenet coordinate system. The existence of the optimal solution can be ensured by constructing a longitudinal speed control optimization problem and solving explicitly based on the Pontryagin maximum principle. Lateral displacement control problems are constructed and solved quickly by using the back-stepping method, in which Lyapunov stability can be demonstrated. Finally, the effectiveness of the proposed methods was verified through co-simulation.