Description:TECHNICAL FIELD
[0001] The present disclosure relates to the field of autonomous robotic systems, and more particularly, to a system and method for autonomous navigation and obstacle avoidance in vehicles using multi-sensor data fusion and integrated battery safety management.

BACKGROUND
[0002] Background description includes information that may be useful in understanding the present invention. It is not an admission that any of the information provided herein is prior art or relevant to the presently claimed invention, or that any publication specifically or implicitly referenced is prior art.
[0003] The field of autonomous vehicles has seen rapid advancement in recent years, particularly in the domain of mobile robotics and intelligent transportation systems. Autonomous vehicles are increasingly being used for a variety of applications, including delivery, surveillance, and academic research. A critical requirement for such vehicles is the ability to navigate safely and efficiently in diverse and unstructured environments.
[0004] One of the core technical challenges in autonomous navigation is the reliable detection of environmental features such as speed breakers and obstacles. Existing systems often rely on basic proximity sensors or mechanical bumpers, which provide limited spatial awareness and delayed response. More advanced systems use GPS-based mapping or camera-based vision systems to detect road features. However, GPS-based navigation depends heavily on pre-mapped environments and is unreliable in rural or unmapped regions. Vision-based systems, while accurate under ideal conditions, require powerful processors and suffer in low-light or visually degraded scenarios.
[0005] In addition, many current autonomous robotic platforms do not integrate any form of battery protection or health monitoring. Lithium-ion batteries, commonly used in such systems, are highly sensitive to overcharging, overcurrent, and overheating. The absence of a proper battery management system (BMS) may lead to safety hazards, reduced battery lifespan, and system failures during operation.
[0006] Therefore, there is a need for a cost-effective, sensor-driven autonomous navigation system that can operate reliably in diverse environments without relying on GPS or vision-based systems, and which further incorporates integrated battery monitoring and protection to enhance safety, efficiency, and system longevity.

OBJECTS OF THE PRESENT DISCLOSURE
[0007] A general object of the present disclosure is to provide a system for vehicle capable of detecting speed breakers in real time using low-cost infrared sensors.
[0008] An object of the present disclosure is to provide an obstacle detection mechanism using a Time-of-Flight (ToF) sensor for accurate distance-based object avoidance.
[0009] An object of the present disclosure is to provide a method for fusing sensor data to enable intelligent terrain and obstacle interpretation without reliance on GPS or camera-based systems.
[0010] An object of the present disclosure is to provide a control unit that dynamically adjusts motor speed and direction based on environmental feedback.
[0011] An object of the present disclosure is to provide a robotic system with an integrated Battery Management System (BMS) that continuously monitors voltage, current, and temperature parameters.
[0012] An object of the present disclosure is to provide a safety mechanism that disconnects the battery in response to abnormal electrical or thermal conditions.
[0013] An object of the present disclosure is to provide a compact and energy-efficient autonomous navigation solution suitable for rural, unmapped, or low-light environments.
[0014] An object of the present disclosure is to provide a cost-effective and scalable system architecture using commonly available sensors and components.
[0015] An object of the present disclosure is to provide servo-assisted directional scanning to enhance the detection range of terrain features.
[0016] An object of the present disclosure is to provide improved operational reliability and extended battery life through intelligent power management.

SUMMARY
[0017] Aspects of the present disclosure relate to the field of autonomous robotic systems, and more particularly, to a system and method for autonomous navigation and obstacle avoidance in vehicles using multi-sensor data fusion and integrated battery safety management. The disclosed system provides a cost-effective, compact, and energy-efficient solution that enables reliable real-time navigation without relying on GPS or vision-based systems, while enhancing safety through intelligent power monitoring and control.
[0018] An aspect of the present disclosure pertains to a system for autonomous navigation and obstacle avoidance of a vehicle using a sensor-driven control architecture integrated with battery protection functionality. The system includes an infrared sensor configured to detect speed breakers on a pathway by recognizing predefined surface patterns, and a Time-of-Flight sensor configured to detect obstacles based on real-time distance measurements. A control unit is operatively connected to both sensors and is configured to process and fuse the incoming sensor data to determine terrain conditions and obstacle presence. Based on the fused data, the control unit generates motor control signals to regulate the speed and direction of the vehicle and initiates a stop condition when an obstacle is detected within a threshold distance.
[0019] The system further includes a Battery Management System connected to a battery pack, configured to monitor electrical and thermal parameters such as voltage, current, and temperature, and to initiate power regulation when any parameter exceeds a predefined operational threshold.
[0020] In an aspect, additional components include at least one motor driver for executing the control signals to drive propulsion, and a servo motor for enabling directional scanning of the pathway by adjusting the orientation of the infrared sensor.
[0021] In an aspect, the system offers an efficient, low-cost, and compact solution that operates independently of GPS or camera-based systems and is optimised for performance in diverse and unmapped environments.
[0022] Another aspect of the present disclosure relates to a method for autonomous navigation and obstacle avoidance of a vehicle based on multi-sensor input and integrated battery monitoring. The method includes detecting a predefined surface pattern on a pathway using an infrared sensor and measuring distance to nearby objects using a Time-of-Flight sensor. Real-time data from both sensors is received at a control unit, which processes and fuses the sensor inputs to determine whether a terrain feature corresponds to a speed breaker or whether an obstacle is present. The method further includes generating motor control signals based on the interpreted data to dynamically adjust the speed and direction of the vehicle, and stopping the vehicle when an obstacle is detected within a predefined proximity threshold. The method includes continuously monitoring battery voltage, current, and temperature using a Battery Management System, and regulating power output by triggering corrective actions when any of the monitored parameters exceed their respective safe limits.

BRIEF DESCRIPTION OF DRAWINGS
[0023] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. The diagrams are for illustration only, which is thus not a limitation of the present disclosure.
[0024] FIG. 1 illustrates an exemplary block diagram of a system for autonomous navigation and obstacle avoidance in a vehicle, in accordance with an embodiment of the present disclosure.
[0025] FIG. 2 illustrates an exemplary flow diagram of a method for autonomous navigation and obstacle avoidance in a vehicle, in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE PRESENT INVENTION
[0026] The following is a detailed description of embodiments of the disclosure represented in the accompanying drawings. The disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. The embodiments are in such detail as to clearly communicate the disclosure. However, the amount of detail offered is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure as defined by the appended claims.
[0027] Embodiment of the present disclosure relates to the field of autonomous robotic systems, and more particularly, to a system and method for autonomous navigation and obstacle avoidance in vehicles using multi-sensor data fusion and integrated battery safety management.
[0028] An embodiment of the present disclosure pertains to a system for autonomous navigation and obstacle avoidance in a vehicle using multi-sensor data fusion and integrated battery safety management. The system is configured to enable the vehicle to respond intelligently to terrain conditions and obstacles without reliance on GPS or camera-based vision systems, making it suitable for unmapped or low-light environments. The system includes an infrared sensor configured to detect speed breakers based on predefined surface patterns such as alternating high and low reflectance values commonly associated with black-and-white road markings. A Time-of-Flight sensor, such as a VL53L0X, is used to detect obstacles by measuring the distance to objects in front of the vehicle. The infrared sensor and Time-of-Flight sensor are mounted on the vehicle and operatively connected to a control unit. The control unit receives real-time data from both sensors and fuses the data by evaluating the reflectance values and the distance measurements. A speed breaker is identified when the infrared sensor detects a specific surface pattern and the Time-of-Flight sensor records a distance value exceeding a predefined threshold. An obstacle is detected when the measured distance falls below the threshold, regardless of reflectance data. Based on this fused sensor data, the control unit dynamically generates motor control signals in the form of Pulse Width Modulated signals to regulate the speed and direction of the vehicle. If an obstacle is detected within a threshold range, the control unit is configured to stop the vehicle.
[0029] The system further includes a Battery Management System (BMS) connected to a battery pack. The BMS monitors key battery parameters such as voltage, current, and temperature, and transmits status data to the control unit. When any of the monitored parameters exceed predefined limits, the BMS initiates protective power regulation by disconnecting the battery pack to prevent electrical or thermal damage.
[0030] To facilitate motion, the system includes at least one motor driver operatively connected to the control unit for executing the motor control signals and driving one or more motors that control propulsion of the vehicle. Additionally, a servo motor is operatively connected to the control unit and is configured to rotate the infrared sensor across a predefined angular range, allowing directional scanning of the pathway for improved detection accuracy.
[0031] Another embodiment of the present disclosure relates to a method for autonomous navigation and obstacle avoidance of a vehicle based on multi-sensor input and integrated battery monitoring. The method includes detecting a predefined surface pattern on a pathway using an infrared sensor and measuring distance to nearby objects using a Time-of-Flight sensor. Real-time data from both sensors is received at a control unit, which processes and fuses the sensor inputs to determine whether a terrain feature corresponds to a speed breaker or whether an obstacle is present. The method further includes generating motor control signals based on the interpreted data to dynamically adjust the speed and direction of the vehicle, and stopping the vehicle when an obstacle is detected within a predefined proximity threshold. The method includes continuously monitoring battery voltage, current, and temperature using a Battery Management System, and regulating power output by triggering corrective actions when any of the monitored parameters exceed their respective safe limits.
[0032] Referring to FIG. 1, an exemplary block diagram (100) for a system (102) for autonomous navigation and obstacle avoidance in a vehicle is disclosed. The vehicle is an autonomous vehicle functioning as a robotic platform, capable of moving without human intervention. It may be implemented in various forms such as autonomous delivery robots, smart mobility platforms, service-based robotic systems, or the like. These platforms operate independently in structured or unstructured environments by interpreting sensor data, responding to obstacles, adjusting speed and direction, and ensuring efficient power management without requiring manual control. The system (102) includes an infrared (IR) sensor (104) configured to detect speed breakers. This detection is based on predefined surface patterns such as black and white stripes or similar visual patterns commonly found on roads or pathways. These patterns assist the system (102) to recognise presence of a speed breaker, allowing the vehicle to respond accordingly. In addition, the system (102) also includes a Time-of-Flight (ToF) sensor (106). This ToF sensor (106) is used for obstacle detection and works by measuring the distance between the sensor and any object in front of it. The ToF sensor (106) includes a VL53L0X sensor, i.e. compact in size and includes accurate distance measurement capability. This ToF sensor (106) is mounted on a front side of the vehicle, ensuring it has a clear line of sight to detect obstacles in path of the vehicle.
[0033] In an embodiment, the system (102) also includes a Battery Management System (BMS) (110) connected to a battery pack (108) configured to monitor the battery pack (108), including Lithium ion batteries. The BMS (110) is based on a NXP MC33771 integrated circuit. This BMS (110) enables accurate monitoring of key battery parameters such as voltage, current, and temperature, and provides cell balancing and fault protection. The integration of NXP MC33771 ensures efficient and reliable operation of the battery pack, supporting safe and consistent power delivery to the vehicle during autonomous navigation and obstacle avoidance tasks.
[0034] In an embodiment, the system (102) includes a control unit (112) operatively coupled the infrared (IR) sensor (104), the Time-of-Flight (ToF) sensor (106), and the Battery Management System (BMS) (110). The control unit (112) may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, logic circuitries, and/or any devices that manipulate data based on operational instructions. Among other capabilities, the control unit (112) may be configured to fetch and (106) may store one or more computer-readable instructions or routines, which may be fetched and executed for processing audio signals. The memory may include any non-transitory storage device, including, for example, volatile memory such as Random Access Memory (RAM), or non-volatile memory such as an Erasable Programmable Read-Only Memory (EPROM), flash memory, and the like.
[0035] The control unit is configured to receive real-time data from the infrared sensor (104) and the Time-of-Flight sensor (106) to analyse surrounding environment of the vehicle. The infrared sensor (104) provides reflectance values based on surface pattern of pathway, while the Time-of-Flight sensor (106) measures distance to objects ahead. The control unit (112) processes and fuses this data to identify terrain features and obstacles in path of the vehicle. The fusion process includes comparing reflectance value from the infrared sensor (104) with predefined surface patterns, such as alternating high and low reflectance values typically found in black-and-white speed breaker markings. Simultaneously, distance data from the Time-of-Flight sensor (106) is evaluated against a predefined threshold.
[0036] When the reflectance value matches the expected surface pattern and the distance value is greater than the threshold, the control unit (112) identifies terrain as a speed breaker. If distance value is below the threshold, regardless of reflectance pattern, the control unit (112) determines presence of an obstacle in path of the vehicle. Through this evaluation, the control unit (112) enables the vehicle to respond appropriately to changes in terrain and to avoid collisions with obstacles, supporting real-time, intelligent navigation.
[0037] In an embodiment, once the control unit (112) completes the process of fusing data received from the infrared (IR) sensor (104) and the Time-of-Flight (ToF) sensor (106), it dynamically generates motor control signals. These signals are based on the interpreted environmental conditions, such as the detection of a speed breaker or an obstacle, and are used to regulate both the speed and direction of the vehicle. The motor control signals generated by the control unit (112) are in the form of Pulse Width Modulated (PWM) signals, which provide precise control over motor speed and operation.
[0038] In addition, the system (102) includes at least one motor driver (114) operatively connected to the control unit (112). The motor driver (114) receives the PWM signals generated by the control unit (112) and accordingly controls one or more motors (116) that propel the vehicle. When the control unit (112) determines the presence of a speed breaker based on the fused sensor data, it generates signals to reduce the motor speed, allowing the vehicle to slow down. Once the terrain ahead is identified as clear and free of obstacles, the control unit (112) generates updated PWM signals to resume or increase the vehicle’s speed. This configuration ensures smooth and adaptive movement based on real-time sensor inputs, terrain feedback, and responsive motor control. The motor driver (114) may be an L298 motor driver that ensures effective and responsive control of the propulsion system based on real-time environmental conditions.
[0039] Further, the system (102) includes a servo motor (118) operatively connected to the control unit (112). The control unit (112) transmits control signals to the servo motor (118) to rotate the infrared (IR) sensor (104) across a predefined angular range. This movement enables the IR sensor (104) to perform directional scanning of the pathway, enhancing its ability to detect speed breakers and terrain variations beyond a fixed direction. The addition of the servo motor (118) further improves navigation accuracy and obstacle detection capability.
[0040] In an embodiment, the control unit (112) receives one or more battery parameters from the Battery Management System (BMS) (110). These parameters include battery voltage, current, and temperature. The control unit (112) continuously monitors this data to assess the operating condition of the battery pack (108). If any of the battery parameters exceed their respective predefined thresholds, such as when the voltage is too high, the current exceeds a safe limit, or the temperature rises beyond acceptable levels, the control unit (112) initiates power regulation. In response, the BMS (110) disconnects the battery pack (108) from the system (102). This prevents risks such as overheating, overcharging, or electrical faults, and ensures that the battery pack (108) operates within its safe operating range. The coordination between the control unit (112) and the BMS (110) provides reliable power protection and contributes to the overall safety and extended lifespan of energy system of the vehicle.
[0041] Further, the control unit (112) is configured to stop the vehicle when the Time-of-Flight (ToF) sensor (106) detects an obstacle within a threshold distance range. The control unit (112) continuously monitors the distance data received from the ToF sensor (106) and, upon identifying that an object is present closer than the predefined safe distance, it generates appropriate control signals to stop the vehicle. This mechanism ensures collision avoidance and contributes to safe autonomous navigation in dynamic environments.
[0042] An exemplary implementation of the proposed system (102) includes an autonomous vehicle deployed on a test track with black-and-white striped speed breakers and randomly placed obstacles. The vehicle is powered by a rechargeable battery pack and autonomously navigates the pathway by adjusting its speed and direction in real time. As the vehicle approaches a speed breaker, it detects the predefined surface pattern and slows down. When an obstacle is detected within a predefined distance, the vehicle stops automatically and resumes movement once the path is clear. The vehicle maintains consistent operation throughout the test by regulating power using the integrated BMS (110), ensuring no interruption due to battery faults.
[0043] In an exemplary embodiment, when the vehicle moves forward, the control unit (112) automatically slows down the vehicle upon detection of speed breaker. If no speed breaker is detected, the vehicle continues moving forward without interruption. Similarly, the system (102) continuously checks for obstacle presence using the ToF sensor (106). If obstacle is detected within threshold distance, the control unit (112) halts the vehicle, otherwise, it allows the vehicle to proceed along its path.
[0044] Referring to FIG. 2, an exemplary flow diagram of a method (200) for autonomous navigation and obstacle avoidance in a vehicle. At step (202), the method (200) begins by detecting a surface pattern on a pathway using a infrared (IR) sensor (104). This IR sensor (104) scans the surface ahead of the vehicle to identify predefined reflectance patterns, such as alternating black-and-white markings that typically represent speed breakers. The IR sensor (104) generates reflectance values based on the surface colour contrast, which helps identify specific terrain features.
[0045] At step (204), the method (200) includes measuring the distance to an object using a Time-of-Flight (ToF) sensor (106). The ToF sensor emits light pulses and calculates the time it takes for them to reflect back from objects in front of the vehicle. This measurement provides accurate distance values used to detect the presence and proximity of obstacles in the path.
[0046] At step (206), real-time data from both the IR sensor (104) and the ToF sensor (106) is received by the control unit (112). The control unit (112) processes and fuses the reflectance data from the IR sensor with the distance data from the ToF sensor to interpret the environment. If the IR sensor detects a predefined reflectance pattern and the distance to the surface exceeds a certain threshold, the terrain is interpreted as a speed breaker. Alternatively, if the ToF sensor measures a distance below a set threshold regardless of IR data, it indicates the presence of an obstacle.
[0047] At step (208), based on the interpreted data, the control unit (112) generates and transmits motor control signals to regulate the vehicle’s speed and direction. If a speed breaker is detected, the control unit adjusts the signals to slow down the vehicle. If an obstacle is detected, the control unit stops the vehicle. If no obstacles or speed breakers are found, the vehicle continues moving forward.
[0048] At step (210), the method (200) includes monitoring one or more battery parameters, such as voltage, current, and temperature, using a Battery Management System (BMS) (110). These parameters are essential for ensuring health and safe operation of the battery pack (108) powering the vehicle.
[0049] At step (212), if any of the monitored battery parameters exceed predefined safety limits, the control unit (112) initiates corrective action through the BMS (110). This may include disconnecting the battery pack (108) or adjusting the load to prevent overcharging, overheating, or overcurrent conditions. This regulation ensures safe and uninterrupted operation of the vehicle by protecting the battery from damage.
[0050] In an exemplary implementation, the system (102) and the method (200) may be integrated into modern automobiles or compact urban vehicles as a smart safety module within Advanced Driver-Assistance Systems (ADAS). The IR sensor (104) and ToF sensor (106) enable real-time detection of road anomalies like speed breakers and obstacles. The control unit (112) interprets the sensor data and autonomously adjusts vehicle speed using motor control signals, enhancing safety and responsiveness in semi-structured or unstructured environments.
[0051] In another exemplary implementation, the system (102) and the method (200) may be deployed in night-time or low-visibility driving conditions to enhance safety. The IR sensor (104) detects speed breakers that are not easily visible, and the control unit (112) responds by reducing speed before the bump. This improves driving comfort and safety, especially for elderly drivers or those with impaired night vision.
[0052] In an exemplary implementation, the system (102) and the method (200) may be adapted for use in two-wheelers, electric scooters, or other lightweight vehicles. It detects sudden terrain changes and adjusts motor output to maintain stability while crossing speed breakers. Its compact size and low power consumption make it suitable for urban transportation modes with limited onboard resources and inconsistent road conditions.
[0053] Thus, the present disclosure provides the system (102) and method (200) that provide a compact, energy-efficient, and cost-effective solution for real-time robotic navigation and obstacle avoidance with integrated power safety, without need for external mapping data or high-performance imaging systems.
[0054] While the foregoing describes various embodiments of the invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof. The scope of the invention is determined by the claims that follow. The invention is not limited to the described embodiments, versions, or examples, which are included to enable a person having ordinary skill in the art to make and use the invention when combined with information and knowledge available to the person having ordinary skill in the art.

ADVANTAGES OF THE PRESENT DISCLOSURE
[0055] The present disclosure provides a system for a vehicle that enables real-time detection of speed breakers using economical infrared sensing technology.
[0056] The present disclosure provides an obstacle sensing mechanism that employs a Time-of-Flight (ToF) sensor to detect objects based on precise distance measurements.
[0057] The present disclosure provides a technique for combining sensor outputs to intelligently recognize terrain types and detect obstacles without dependence on GPS or camera-based vision systems.
[0058] The present disclosure provides a control mechanism that modifies the vehicle’s speed and direction dynamically in response to real-time environmental sensor inputs.
[0059] The present disclosure provides an automated system for continuous monitoring of electrical and thermal conditions of the battery.
[0060] The present disclosure provides an automated protection feature that disconnects the battery pack upon identification of voltage, current, or temperature values exceeding safe thresholds.
[0061] The present disclosure provides a compact, low-power navigation system optimised for use in environments lacking GPS coverage or consistent lighting, such as rural or dimly lit areas.
[0062] The present disclosure provides a low-cost and modular system architecture that utilises widely available sensors and hardware components, enabling scalability.
[0063] The present disclosure provides an approach for enhancing terrain scanning by incorporating a servo motor to enable directional adjustment of the infrared sensor.
[0064] The present disclosure provides improved system dependability and battery longevity through smart power regulation and efficient energy management strategies.
, Claims:1. A system (102) for a vehicle for navigation and obstacle avoidance, the system comprising:
an infrared (IR) sensor (104) configured to detect speed breakers based on a predefined surface patterns present on a pathway;
a Time-of-Flight (ToF) sensor (106) configured to detect obstacles based on distance measurement;
a Battery Management System (BMS) (110) connected to a battery pack (108) configured to monitor the battery pack (108); and
a control unit (112) operatively coupled the infrared (IR) sensor (104), the Time-of-Flight (ToF) sensor (106), and the Battery Management System (BMS) (110), wherein the control unit (112) is configured to:
receive real-time data from the IR sensor (104) and the ToF sensor (106);
fuse the received data to determine terrain conditions and an obstacle presence in path of the vehicle;
generate dynamically and transmit motor control signals based on the fused data to regulate speed and direction of the vehicle;
receive one or more battery parameters from the BMS (110); and
initiate power regulation by the BMS (110) when at least one of the one or more battery parameters exceeds a respective predefined limit.
2. The system (102) as claimed in claim 1, wherein the control unit (112) is configured to fuse the received data by evaluating a reflectance value obtained from the infrared (IR) sensor (104) in combination with a distance value obtained from the Time-of-Flight (ToF) sensor (106), and to determine:
a terrain condition as the speed breaker when the reflectance value matches the predefined surface pattern and a distance value exceeds a predefined threshold; and
the obstacle presence when the distance value falls below the predefined threshold irrespective of the reflectance value.
3. The system (102) as claimed in claim 1, wherein the control unit (112) is configured to determine the presence of a speed breaker when the infrared (IR) sensor (104) detects a predefined pattern of alternating high and low reflectance values corresponding to black-and-white markings on the pathway.
4. The system (102) as claimed in claim 1, wherein the Time-of-Flight (ToF) sensor (106) comprises a VL53L0X sensor mounted on a front side of the vehicle.
5. The system (102) as claimed in claim 1, wherein the motor control signals generated by the control unit (112) comprise Pulse Width Modulated (PWM) signals.
6. The system (102) as claimed in claim 1, wherein the control unit (112) is further configured to stop the vehicle when the ToF sensor (106) detects an obstacle within a threshold distance range.
7. The system (102) as claimed in claim 1, wherein the Battery Management System (BMS) (110) is configured to disconnect the battery pack (108) upon detection of at least one of voltage, current, or temperature exceeding respective predefined thresholds.
8. The system (102) as claimed in claim 1, further comprising at least one motor driver (114) operatively coupled to the control unit (112), the at least one motor driver (114) is configured to receive the motor control signals and drive one or more motors (116) to control propulsion of the vehicle.
9. The system (102) as claimed in claim 1, further comprising a servo motor (118) operatively connected to the control unit (112), the servo motor (118) configured to rotate the infrared (IR) sensor (104) across a predefined angular range to enable directional scanning of the pathway.
10. A method (200) for autonomous navigation and obstacle avoidance of a vehicle, the method (200) comprising:
detecting (202) a surface pattern on a pathway using an infrared (IR) sensor;
measuring (4204) a distance to an object using a Time-of-Flight (ToF) sensor;
receiving (206) at a control unit, real-time data from the IR sensor and the ToF sensor, and fusing received data to determine at least one of:
a terrain condition as a speed breaker when a surface pattern matches a predefined reflectance pattern and distance exceeds a predefined threshold, and
an obstacle presence when the measured distance falls below the predefined threshold;
generating and transmitting (208) motor control signals based on the determined terrain condition and obstacle presence to regulate speed and direction of the vehicle;
monitoring (210) one or more battery parameters using a Battery Management System (BMS); and
regulating (212) power output from a battery pack by initiating corrective action through the BMS when at least one of the one or more battery parameters exceeds a respective predefined limit.