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NASCAR explains Michigan debris caution

After criticism from the sport's most popular driver and a former champion, NASCAR defended its calls on debris cautions Monday on SiriusXM NASCAR Radio.

Stewart, a three-time champion, tweeted: "It's a shame that so many drivers and teams day was ruined by the results of another "debris" caution towards the end of the race today.''

Earnhardt, the 14-time most popular driver, said on Periscope after the race: "I don't know why they've got to throw so many damn debris yellows."

Scott Miller, NASCAR senior vice president of competition, explained on "The Morning Drive" how the sanctioning body decides to call a debris caution.

"We use all the resources that we have to try to identity what it is that is out there - that being camera, turn spotters and the communication that we've got around the race track to different people who may be able to see it,'' Miller said on SiriusXM NASCAR Radio.

"If we are actually able to identify what it is and feel like it's something that is OK to leave out there, then we'll do so. But if we can't identify what it is exactly and it could pose something dangerous, then we'll usually, or almost always, error on the side of caution and safety and put the caution out in those circumstances. Sometimes it's untimely and a little bit unfortunate, but we do have to do our job and make sure that everybody is safe.''

-- NBC Sports --