<!doctype html><html lang="en" class="no-js"><head><meta charset="utf-8"> <!-- begin SEO --><title>Reducing ego vehicle energy-use by LiDAR-based lane-level positioning - Ian Q. Mattson</title><meta name="description" content="In addition to providing convenience and improving safety autonomous vehicle technologies offer an opportunity to reduce energy use by up to twenty percent or more. One strategy for reducing energy use is careful positioning of an autonomous vehicle, the ego vehicle, behind one or more lead vehicles. Most perception pipelines fit a bounding box around the center of mass of a detected object. That approach may not be accurate enough to allow for precise positioning. Here we compare different methods of identifying vehicle boundaries and vehicle type using a combination of simulation and field testing. 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Mattson</h3><p class="author__pronouns">he/him</p><p class="author__bio">PhD Student at Michigan Tech</p></div><div class="author__urls-wrapper"> <button class="btn btn--inverse">Follow</button><ul class="author__urls social-icons"> <!-- Font Awesome icons / Biographic information --><li class="author__desktop"><i class="fas fa-fw fa-location-dot icon-pad-right" aria-hidden="true"></i>Houghton, MI</li><li class="author__desktop"><i class="fas fa-fw fa-building-columns icon-pad-right" aria-hidden="true"></i>Michigan Technological University</li><!-- Font Awesome and Academicons icons / Academic websites --><li><a href="https://scholar.google.com/citations?user=EfDws6IAAAAJ&hl"><i class="ai ai-google-scholar ai-fw icon-pad-right"></i>Google Scholar</a></li><li><a href="https://orcid.org/0009-0000-7573-6264"><i class="ai ai-orcid ai-fw icon-pad-right"></i>ORCID</a></li><!-- Font Awesome icons / Repositories and software development --><li><a href="https://github.com/iqmattso"><i class="fab fa-fw fa-github icon-pad-right" aria-hidden="true"></i>GitHub</a></li><!-- Font Awesome icons / Social media --><li><a href="https://www.linkedin.com/in/ian-mattson"><i class="fab fa-fw fa-linkedin icon-pad-right" aria-hidden="true"></i>LinkedIn</a></li></ul></div></div></div><article class="page" itemscope itemtype="http://schema.org/CreativeWork"><meta itemprop="headline" content="Reducing ego vehicle energy-use by LiDAR-based lane-level positioning"><meta itemprop="description" content="In addition to providing convenience and improving safety autonomous vehicle technologies offer an opportunity to reduce energy use by up to twenty percent or more. One strategy for reducing energy use is careful positioning of an autonomous vehicle, the ego vehicle, behind one or more lead vehicles. Most perception pipelines fit a bounding box around the center of mass of a detected object. That approach may not be accurate enough to allow for precise positioning. Here we compare different methods of identifying vehicle boundaries and vehicle type using a combination of simulation and field testing. Approaches will be compared based on required LiDAR resolution and algorithm complexity relative to potential improvement in energy efficiency."><meta itemprop="datePublished" content="June 06, 2022"><div class="page__inner-wrap"><header><h1 class="page__title" itemprop="headline">Reducing ego vehicle energy-use by LiDAR-based lane-level positioning</h1><p>Published in <i>SPIE Defense + Commercial Sensing, Autonomous Systems: Sensors, Processing and Security for Ground, Air, Sea and Space Vehicles and Infrastructure 2022</i>, 2022</p></header><section class="page__content" itemprop="text"><p style="font-size: smaller">Recommended citation: I.Q. Mattson et al., “Reducing ego vehicle energy-use by LIDAR-based Lane-level positioning,” Autonomous Systems: Sensors, Processing and Security for Ground, Air, Sea and Space Vehicles and Infrastructure 2022, p. 2, Jun. 2022. doi:10.1117/12.2619430 <br /><a href="https://doi.org/10.1117/12.2619430">Download Paper</a></p></section><footer class="page__meta"></footer><section class="page__share"><h4 class="page__share-title">Share on</h4><a href="https://bsky.app/intent/compose?text=https://iqmattso.github.io/publication/2022-06-06-reducing-ego-vehicle-energy-use-by-lane-level-positioning.md" class="btn btn--bluesky" title="Share on Bluesky"><i class="fab fa-bluesky" aria-hidden="true"></i><span> Bluesky</span></a> <a href="https://www.facebook.com/sharer/sharer.php?u=https://iqmattso.github.io/publication/2022-06-06-reducing-ego-vehicle-energy-use-by-lane-level-positioning.md" class="btn btn--facebook" title="Share on Facebook"><i class="fab fa-facebook" aria-hidden="true"></i><span> Facebook</span></a> <a href="https://www.linkedin.com/shareArticle?mini=true&url=https://iqmattso.github.io/publication/2022-06-06-reducing-ego-vehicle-energy-use-by-lane-level-positioning.md" class="btn btn--linkedin" title="Share on LinkedIn"><i class="fab fa-linkedin" aria-hidden="true"></i><span> LinkedIn</span></a> <a href="https://x.com/intent/post?text=https://iqmattso.github.io/publication/2022-06-06-reducing-ego-vehicle-energy-use-by-lane-level-positioning.md" class="btn btn--x" title="Share on X"><i class="fab fa-x-twitter" aria-hidden="true"></i><span> X (formerly Twitter)</span></a></section><nav class="pagination"> <a href="#" class="pagination--pager disabled">Previous</a> <a href="https://iqmattso.github.io/publication/2023-06-13-rut-depth-detection-for-automated-trafficability-assessment.md" class="pagination--pager" title="Rut depth detection for automated trafficability assessment ">Next</a></nav></div></article></div><div class="page__footer"><footer> <!-- start custom footer snippets --> <a href="/sitemap/">Sitemap</a> <!-- Support for MatJax --> <script defer src="https://cdnjs.cloudflare.com/polyfill/v3/polyfill.min.js?features=es6"></script> <script defer src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" id="MathJax-script"></script> <!-- Support for Plotly --> <script defer src='https://cdnjs.cloudflare.com/ajax/libs/plotly.js/3.0.1/plotly.min.js'></script> <!-- Support for Mermaid --> <script type="module"> import mermaid from 'https://cdn.jsdelivr.net/npm/mermaid@11/dist/mermaid.esm.min.mjs'; mermaid.initialize({startOnLoad:true, theme:'default'}); await mermaid.run({querySelector:'code.language-mermaid'}); </script> <!-- end custom footer snippets --><div class="page__footer-follow"><ul class="social-icons"><li><strong>Follow:</strong></li><li><a href="https://github.com/iqmattso"><i class="fab fa-github" aria-hidden="true"></i> GitHub</a></li><li><a href="https://iqmattso.github.io/feed.xml"><i class="fa fa-fw fa-rss-square" aria-hidden="true"></i> Feed</a></li></ul></div><div class="page__footer-copyright"> &copy; 2025 Ian Q. 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