Automated hazard escaping trajectory planning/tracking control framework for vehicles subject to tire blowout on expressway

  • Ming YueEmail author
  • Lu Yang
  • Hongzhi Zhang
  • Gang Xu
Original paper


This paper proposes an automated hazard escaping trajectory planning/tracking control framework for the vehicle subject to tire blowout on expressway by hierarchically introducing detector, planner, controller. Firstly, a detector is presented for seeking the hazard escaping opportunity by collecting and processing the information from onboard sensor, vehicle-to-vehicle and vehicle-to-infrastructure communication. Secondly, a time-based polynomial trajectory planning method is developed for achieving the smoothly transition from current lane to the emergency one, by which the vehicle velocity and dynamics constraints are both readily handled. Thirdly, an emergency braking control strategy on destination lane is designed by coordinating the primary and auxiliary brake wheels, in which the efficient lane keeping and braking performance are assured at the same time. In the end, combining with the layered trajectory tracking controllers, simulation with front-left wheel tire blowout case validates the feasibility and effectiveness of the proposed framework and methods.


Automated hazard escaping framework Emergency braking control Tire blowout Trajectory planning 



This work were supported by National Natural Science Foundation of China under Grant (Nos. 61873047 and 61573078), Fundamental Research Funds for the Central Universities (DUT19ZD205), and State Key Laboratory of Robotics and System Grant (SKLRS-2019-KF-17).

Compliance with ethical standards

Conflict of interest

The authors declare that they have no conflict of interest.


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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.School of Automotive EngineeringDalian University of TechnologyDalianChina
  2. 2.State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbinChina

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