TY - JOUR A1 - Weihmayr, Daniel A1 - Birkner, Christian A1 - Marzbani, Hormoz A1 - Jazar, Reza T1 - Data-Driven Vehicle Dynamics: Lever-Aging SINDy for Optimization-Based Vehicular Motion Planning JF - IEEE Access N2 - Motion planning remains a crucial challenge for the widespread adoption of autonomous vehicles. This paper presents a novel approach that integrates an empirical plant model within an optimization-based motion planning architecture. The model prioritizes performance and efficiency while maintaining interpretability. We introduce a methodology that utilizes a data-driven approach to derive an interpretable description of the evolution of vehicle states over time using sparse regression. This method allows effective learning from limited datasets, eliminating the need for extensive and expensive data collection. Our approach addresses the trade-off between performance and accuracy, enabling adaptation to diverse driving scenarios. We affirm the efficacy of our methodology via an extensive analysis, evaluating the independent prediction performance across diverse metrics. Additionally, we examine the overall tracking performance when incorporated into an optimization-based framework. Finally, we present a comparative analysis and discuss the subsequent impact on overall motion planning and decision-making in relation to a state-of-the-art single-track model. UR - https://doi.org/10.1109/ACCESS.2025.3594892 Y1 - 2025 UR - https://doi.org/10.1109/ACCESS.2025.3594892 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-61981 SN - 2169-3536 VL - 13 SP - 136584 EP - 136597 PB - IEEE CY - New York ER - TY - CHAP A1 - Weihmayr, Daniel A1 - Sezgin, Fatih A1 - Tolksdorf, Leon A1 - Birkner, Christian A1 - Jazar, Reza T1 - Predicting the Influence of Adverse Weather on Pedestrian Detection with Automotive Radar and Lidar Sensors T2 - 2024 IEEE Intelligent Vehicles Symposium (IV) UR - https://doi.org/10.1109/IV55156.2024.10588472 Y1 - 2024 UR - https://doi.org/10.1109/IV55156.2024.10588472 SN - 979-8-3503-4881-1 SP - 2591 EP - 2597 PB - IEEE CY - Piscataway ER -