Trajectory Planning of Tire Blowout for Autonomous Vehicles Based on Comprehensive Potential Energy Field

Aiming at the yaw and instability problems of self-driving vehicles after a tire blowout, on the basis of considering safety and driving stability, a potential energy field based on the influence of the vertical load factor of the vehicle body is proposed to plan a new trajectory after a tire blowout and design a controller to control the front wheel angle of the vehicle after a tire blowout, so as to solve the problem of vehicle yaw after a tire blowout occurs when the self-driving vehicle is driving at medium, low, and high speeds. At the same time, the joint simulation is carried out with the help of Carsim software and Simulink. The simulation results show that the method has good adaptability, and the trajectory planning and control of the vehicle with a tire blowout based on the comprehensive potential energy field can ensure that the vehicle only has a small lateral offset after the tire blowout occurs, and the maximum offset is less than 10 m. At the same time, the maximum lateral acceleration is less than 0.02ɡ, which can reduce the instability caused by the increase of yaw rate and center of mass sideslip angle and ensure the stability of the vehicle.