<p>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.</p>