This thesis has been developed within the framework of technologies for autonomous vehicles; it is connected, in particular, to the Advanced Driver-Assistance Systems (ADAS), real-time multi-sensor collision avoidance systems field of research. Advanced Driver-Assistance Systems (ADAS) are groups of electronic technologies that assist drivers in driving actions and their aim is to improve vehicle safety during critical driving conditions by measuring external vehicle variables (such as road and traffic environment conditions). Examples of ADAS are Adaptive Cruise Control (ACC) or Lane Keeping Assist (LKA). The main objective of the thesis is to improve the potential of an existent proof of concept (POC) sensor for bike and scooter types of vehicles, able to correctly detect objects or road irregularities and also communicate a possible dangerous situation to the user in real-time.