this paper introduces a new algorithm to generate simulated 2D LMS point scan sensor mounted on a moving vehicle detecting moving obstacles, The suggested algorithm could be used to asset the testing of autonomous vehicle LMS data processing system to avoiding unnecessary 3D long simulation time and complexity The suggested algorithm was tested with a number of obstacles with different sizes, velocities and distances and compared with the input obstacle data, finally this paper introduces a formula to estimate detection possibility based on LMS angular resolution, obstacle shape and obstacle distance to aid in the choice of LMS angular resolution.