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Minghao Ning
Ph.D.-level autonomous systems researcher focused on autonomous driving, robotics, perception, sensor fusion, motion planning, and cooperative infrastructure autonomy.
Posts
portfolio
publications
An efficient model for driving focus of attention prediction using deep learning
Published in IEEE Intelligent Transportation Systems Conference (ITSC), 2019
Deep learning model for predicting driving focus of attention.
Recommended citation: M. Ning, C. Lu, and J. Gong. "An efficient model for driving focus of attention prediction using deep learning." IEEE Intelligent Transportation Systems Conference (ITSC), 1192-1197, 2019.
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Mandatory lane-changing decision-making in dense traffic for autonomous vehicles based on deep reinforcement learning
Published in CAA International Conference on Vehicular Control and Intelligence (CVCI), 2022
Deep reinforcement learning for mandatory lane-changing decision making in dense traffic.
Recommended citation: Y. Gu, K. Yuan, S. Yang, M. Ning, and Y. Huang. "Mandatory lane-changing decision-making in dense traffic for autonomous vehicles based on deep reinforcement learning." CAA International Conference on Vehicular Control and Intelligence (CVCI), 2022.
Task-attentive LiDAR Filter: Adaptive ROI and Semantic-based Ground Segmentation
Published in CAA International Conference on Vehicular Control and Intelligence (CVCI), 2022
Adaptive ROI and semantic-based ground segmentation for task-attentive LiDAR filtering.
Recommended citation: Y. Cui, M. Ning, W. Li, D. Cao, and A. Khajepour. "Task-attentive LiDAR Filter: Adaptive ROI and Semantic-based Ground Segmentation." CAA International Conference on Vehicular Control and Intelligence (CVCI), 2022.
Game-theory in practice: Application to motion planning and decision making in an autonomous shuttle bus
Published in IEEE Transactions on Intelligent Transportation Systems, 2024
Game-theoretic motion planning and decision making for an autonomous shuttle bus.
Recommended citation: K. Shu, A. R. Alghooneh, M. Ning, S. Li, M. Pirani, and A. Khajepour. "Game-theory in practice: Application to motion planning and decision making in an autonomous shuttle bus." IEEE Transactions on Intelligent Transportation Systems, 25(11), 18624-18635, 2024.
Object reconstruction and localization in indoor environments using infrastructure sensor node
Published in IEEE Sensors Journal, 2024
Object reconstruction and localization using infrastructure sensor nodes in indoor environments.
Recommended citation: S. Dasgupta, V. N. Devarakonda, Y. Cao, M. Ning, N. P. Bhatt, Y. Yang, and A. Khajepour. "Object reconstruction and localization in indoor environments using infrastructure sensor node." IEEE Sensors Journal, 24(13), 20824-20834, 2024.
A Novel Motion Planning for Autonomous Vehicles Using Point Cloud Based Potential Field
Published in IEEE Transactions on Vehicular Technology, 2024
Point-cloud-based potential fields for autonomous vehicle motion planning.
Recommended citation: M. Ning, A. Khajepour, E. Hashemi, and C. Sun. "A Novel Motion Planning for Autonomous Vehicles Using Point Cloud Based Potential Field." IEEE Transactions on Vehicular Technology, 74(3), 3780-3792, 2024.
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REAL-SAP: Real-Time Evidence Aware Liable Safety Assessment for Perception in Autonomous Driving
Published in IEEE Transactions on Vehicular Technology, 2024
Real-time evidence-aware safety assessment for autonomous driving perception.
Recommended citation: C. Sun, M. Ning, Z. Deng, and A. Khajepour. "REAL-SAP: Real-Time Evidence Aware Liable Safety Assessment for Perception in Autonomous Driving." IEEE Transactions on Vehicular Technology, 73(8), 10870-10883, 2024.
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Extending operational design domain for perception systems through robust learning
Published in IEEE Transactions on Intelligent Vehicles, 2024
Robust learning methods for extending the operational design domain of perception systems.
Recommended citation: C. Sun, Y. Cui, M. Ning, Y. Lu, D. Cao, and A. Khajepour. "Extending operational design domain for perception systems through robust learning." IEEE Transactions on Intelligent Vehicles, 2024.
Integrating uncertainty propagation models in autonomous vehicle perception with machine learning components
Published in SSRN, 2024
Uncertainty propagation for autonomous vehicle perception systems with machine learning components.
Recommended citation: C. Sun, R. Zhang, A. R. Alghooneh, M. Ning, Z. Deng, and A. Khajepour. "Integrating uncertainty propagation models in autonomous vehicle perception with machine learning components." Available at SSRN 4733295, 2024.
Enhancing Indoor Mobility with Connected Sensor Nodes: A Real-Time, Delay-Aware Cooperative Perception Approach
Published in IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024
Delay-aware cooperative perception for indoor intelligent mobility using connected sensor nodes.
Recommended citation: M. Ning, Y. Cui, Y. Yang, S. Huang, Z. Liu, A. R. Alghooneh, E. Hashemi, and A. Khajepour. "Enhancing Indoor Mobility with Connected Sensor Nodes: A Real-Time, Delay-Aware Cooperative Perception Approach." IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024.
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Intelligent mobility system with integrated motion planning and control utilizing infrastructure sensor nodes
Published in IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024
Integrated motion planning and control for mobility systems using infrastructure sensor nodes.
Recommended citation: Y. Yang, M. Ning, S. Huang, E. Hashemi, and A. Khajepour. "Intelligent mobility system with integrated motion planning and control utilizing infrastructure sensor nodes." IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024.
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An Efficient Approach to Generate Safe Drivable Space by LiDAR-Camera-HD Map Fusion
Published in IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024
Safe drivable space generation using LiDAR, camera, and HD map fusion.
Recommended citation: M. Ning, A. R. Alghooneh, C. Sun, R. Zhang, P. Panahandeh, S. Tuer, E. Hashemi, and A. Khajepour. "An Efficient Approach to Generate Safe Drivable Space by LiDAR-Camera-HD Map Fusion." IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024.
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WATonoBus: Field-tested all-weather autonomous shuttle technology
Published in IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024
Field-tested all-weather autonomous shuttle technology developed at the University of Waterloo.
Recommended citation: N. P. Bhatt, R. Zhang, M. Ning, A. R. Alghooneh, C. Sun, P. Panahandeh, and others. "WATonoBus: Field-tested all-weather autonomous shuttle technology." IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024.
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Cascaded safety analysis and test scenario generation techniques for autonomous driving: A case study with WATonoBus
Published in Automotive Innovation, 2025
Safety analysis and test scenario generation for autonomous driving using WATonoBus as a case study.
Recommended citation: C. Sun, R. Zhang, A. R. Alghooneh, M. Ning, P. Panahandeh, S. Tuer, and A. Khajepour. "Cascaded safety analysis and test scenario generation techniques for autonomous driving: A case study with WATonoBus." Automotive Innovation, 8(2), 252-263, 2025.
DriveSOTIF: Advancing SOTIF through multimodal large language models
Published in IEEE Transactions on Vehicular Technology, 2025
Advancing perception SOTIF analysis using multimodal large language models.
Recommended citation: S. Huang, F. Shi, C. Sun, J. Zhong, M. Ning, Y. Yang, Y. Lu, H. Wang, and A. Khajepour. "DriveSOTIF: Advancing SOTIF through multimodal large language models." IEEE Transactions on Vehicular Technology, 2025.
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Quantifying learning algorithm uncertainties in autonomous driving systems: Enhancing safety through Polynomial Chaos Expansion and High Definition maps
Published in Accident Analysis & Prevention, 2025
Uncertainty quantification for autonomous driving safety using Polynomial Chaos Expansion and HD maps.
Recommended citation: R. Zhang, C. Sun, M. Ning, R. Valiollahimehrizi, Y. Lu, K. Czarnecki, and A. Khajepour. "Quantifying learning algorithm uncertainties in autonomous driving systems: Enhancing safety through Polynomial Chaos Expansion and High Definition maps." Accident Analysis & Prevention, 211, 107903, 2025.
Decision Making in Urban Traffic: A Game Theoretic Approach for Autonomous Vehicles Adhering to Traffic Rules
Published in IEEE Transactions on Intelligent Transportation Systems, 2025
Game-theoretic decision making for autonomous vehicles in urban traffic.
Recommended citation: K. Shu, M. Ning, A. R. Alghooneh, S. Li, M. Pirani, and A. Khajepour. "Decision Making in Urban Traffic: A Game Theoretic Approach for Autonomous Vehicles Adhering to Traffic Rules." IEEE Transactions on Intelligent Transportation Systems, 2025.
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SAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes
Published in Revised manuscript under review at IEEE Transactions on Automation Science and Engineering, 2026
Social-aware planning with cooperative pose estimation from infrastructure sensor nodes.
Recommended citation: M. Ning, Y. Yang, S. Huang, J. Zhong, K. Shu, C. Sun, E. Hashemi, and A. Khajepour. "SAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes." Revised manuscript under review at IEEE Transactions on Automation Science and Engineering, 2026.
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Real-World Deployment of Cloud Autonomous Mobility System Using 5G Networks for Outdoor and Indoor Environments
Published in Under review at IEEE Intelligent Transportation Systems Magazine, 2026
Real-world deployment of cloud autonomous mobility using 5G networks across outdoor and indoor environments.
Recommended citation: Y. Yang, M. Ning, K. Shu, A. Saleh, E. Hashemi, and A. Khajepour. "Real-World Deployment of Cloud Autonomous Mobility System Using 5G Networks for Outdoor and Indoor Environments." Under review at IEEE Intelligent Transportation Systems Magazine, 2026.
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CoInfra: A Large-Scale Cooperative Infrastructure Perception System and Dataset in Adverse Weather
Published in Under review at Transportation Research Part C, 2026
Large-scale cooperative infrastructure perception system and dataset for adverse-weather vehicle-infrastructure cooperation.
Recommended citation: M. Ning, Y. Yang, K. Shu, S. Huang, J. Zhong, M. Salehi, M. Rahmani, Y. Lu, C. Sun, E. Hashemi, and A. Khajepour. "CoInfra: A Large-Scale Cooperative Infrastructure Perception System and Dataset in Adverse Weather." Under review at Transportation Research Part C, 2026.
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EAV-DETR: Efficient Arbitrary-View oriented object detection with probabilistic guarantees for UAV imagery
Published in ISPRS Journal of Photogrammetry and Remote Sensing, 2026
Efficient arbitrary-view oriented object detection with probabilistic guarantees for UAV imagery.
Recommended citation: H. Zuo, M. Ning, Y. Shu, S. Huang, and C. Sun. "EAV-DETR: Efficient Arbitrary-View oriented object detection with probabilistic guarantees for UAV imagery." ISPRS Journal of Photogrammetry and Remote Sensing, 233, 575-587, 2026.
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