Disasters have been striking human-beings from the beginning of history and their management is a global concern of the international community. Minimizing the impact and consequences of these disasters, both natural and human-made, involves many decision and logistic processes that should be optimized. A crucial logistic problem is the evacuation of the affected population, and the focus of this paper is the planning of supported evacuation of vulnerable people to safe places when necessary. A lexicographic goal programming model for supported evacuation is proposed, whose main novelties are the classification of potential evacuees according to their health condition, so that they can be treated accordingly; the introduction of dynamism regarding the arrival of potential evacuees to the pickup points, according to their own susceptibility about the disaster and the joint consideration of objectives such us number of evacuated people, operation time and cost, among which no trade-off is possible. The performance of the proposed model is evaluated through a realistic case study regarding the earthquake and tsunami that hit Palu (Indonesia) in September 2018.