A distance sensing mobility assistance apparatus to assist a visually impaired person includes a microcontroller, and a light detection and ranging (LiDAR) component, an audio signal component, a haptic signal component, and a light-emitting signal component, all interfaced to the microcontroller. The microcontroller includes instructions for reading a distance signal from the LiDAR component, producing an audio phase width modulation (PWM) signal for the audio signal component, based on the distance signal, a frequency of the audio FM signal being inversely dependent on a distance estimate based on the distance signal. The microcontroller includes instructions for producing a haptic PWM signal for the haptic signal component, based on the distance signal, a duty cycle of the haptic PWM signal being inversely dependent on the distance estimate. The microcontroller includes instructions for producing a current based on the distance signal, for the light-emitting signal component.
