For Arduino and Raspberry Pi integration, an API is established with semantics of activateSensor, modifyVibrator <num 1-6><level 0-3>, deactivateVibrator <num 1-6> and deactivateSensor.
For control logic, a primitive alert model based on obstacle’s ultrasonic distance and speed is developed. The model has 3 alert levels(high, medium, low) that correspond to vibration intensities, given conditions of speed>3m/s or distance <= 1m, speed>2m/s or distance <= 2m, and speed>1m/s or distance <= 4.5m respectively.
The above integration and control logic are tested to work with multiple ultrasonic sensors and vibration motors.