{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,25]],"date-time":"2026-08-25T13:38:14Z","timestamp":1787665094276,"version":"build-2736575974"},"reference-count":32,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2025,11,20]],"date-time":"2025-11-20T00:00:00Z","timestamp":1763596800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100012046","name":"Vietnam Academy of Science and Technology","doi-asserted-by":"publisher","award":["CN4000.03\/22-24"],"award-info":[{"award-number":["CN4000.03\/22-24"]}],"id":[{"id":"10.13039\/100012046","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Autonomous vehicles represent a transformative technology in modern transportation, promising enhanced safety, efficiency, and accessibility in mobility systems. This paper presents a comprehensive autonomous vehicle system designed specifically for Vietnam\u2019s traffic conditions, featuring a multi-layered approach to perception, decision-making, and control. The system utilizes dual 2D LiDARs, camera vision, and GPS sensing to navigate complex urban environments. A key contribution is the development of a specialized segmentation model that accurately identifies Vietnam-specific traffic signs, lane markings, road features, and pedestrians. The system implements a hierarchical decision-making architecture, combining long-term planning based on GPS and map data with short-term reactive planning derived from a bird\u2019s-eye view transformation of segmentation and LiDAR data. The control system modulates the speed and steering angle through a validated model that ensures stable vehicle operation across various traffic scenarios. Experimental results demonstrate the system\u2019s effectiveness in real-world conditions, achieving a high accuracy rate in terms of segmentation and detection and an exact response in navigation tasks. The proposed system shows robust performance in Vietnam\u2019s unique traffic environment, addressing challenges such as mixed traffic flow and country-specific road infrastructure.<\/jats:p>","DOI":"10.3390\/s25227083","type":"journal-article","created":{"date-parts":[[2025,11,20]],"date-time":"2025-11-20T13:25:27Z","timestamp":1763645127000},"page":"7083","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Integration of Multi-Sensor Fusion and Decision-Making Architecture for Autonomous Vehicles in Multi-Object Traffic Conditions"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-5125-2261","authenticated-orcid":false,"given":"Hai Ngoc","family":"Nguyen","sequence":"first","affiliation":[{"name":"Vietnam National Space Center, Vietnam Academy of Science and Technology, Hanoi 100000, Vietnam"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thien Nguyen","family":"Luong","sequence":"additional","affiliation":[{"name":"Vietnam National Space Center, Vietnam Academy of Science and Technology, Hanoi 100000, Vietnam"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tuan Pham","family":"Minh","sequence":"additional","affiliation":[{"name":"Vietnam National Space Center, Vietnam Academy of Science and Technology, Hanoi 100000, Vietnam"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nguyen Mai Thi","family":"Hong","sequence":"additional","affiliation":[{"name":"Vietnam National Space Center, Vietnam Academy of Science and Technology, Hanoi 100000, Vietnam"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-7103-6163","authenticated-orcid":false,"given":"Kiet Tran","family":"Anh","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Quan Bui","family":"Hong","sequence":"additional","affiliation":[{"name":"Faculty of Information Technology, University of Engineering and Technology\u2014VNU, Hanoi 100000, Vietnam"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7484-7402","authenticated-orcid":false,"given":"Ngoc Pham Van","family":"Bach","sequence":"additional","affiliation":[{"name":"Vietnam National Space Center, Vietnam Academy of Science and Technology, Hanoi 100000, Vietnam"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,11,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"10971","DOI":"10.1016\/j.ifacol.2023.10.793","article-title":"An overview of decision-making in autonomous vehicles","volume":"56","author":"Ghraizi","year":"2023","journal-title":"IFAC-PapersOnLine"},{"key":"ref_2","first-page":"293","article-title":"Study on a method for detecting and tracking multiple traffic signals at the same time using YOLOv7 and SORT object tracking","volume":"8","author":"Hong","year":"2023","journal-title":"Int. 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